相关论文: Collision Avoidance for Autonomous Surface Vessels…
To realize autonomous shipping, autonomous berthing and unberthing are some of the technical challenges. In the past, numerous research have been done on the optimization of trajectory planning of berthing problems. However, these studies…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
Autonomous driving improves traffic efficiency but presents safety challenges in complex port environments. This study investigates how environmental factors, traffic factors, and pedestrian characteristics influence interaction safety…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of…
With the advancement of data-driven techniques, addressing continuous con-trol challenges has become more efficient. However, the reliance of these methods on historical data introduces the potential for unexpected decisions in novel…
This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…
With the recent advancement in environmental sensing, vehicle control and vehicle-infrastructure cooperation technologies, more and more autonomous driving companies start to put their intelligent cars into road test. But in the near…
This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of…
Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…
Path planning is a fundamental component in autonomous mobile robotics, enabling a robot to navigate from its current location to a desired goal while avoiding obstacles. Among the various techniques, Artificial Potential Field (APF)…
In the era of rapid advancements in vehicle safety technologies, driving risk assessment has become a focal point of attention. Technologies such as collision warning systems, advanced driver assistance systems (ADAS), and autonomous…
Marine vehicles have been used for various scientific missions where information over features of interest is collected. In order to maximise efficiency in collecting information over a large search space, we should be able to deploy a…
This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the current image frame with an attractive or neutral potential…
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new…
Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice conditions encountered in the Arctic, where the effects of…
Within the next several years, there will be a high level of autonomous technology that will be available for widespread use, which will reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh…