相关论文: Codification of Good Seamanship in Complex and Con…
The ocean wave distribution in a specific region of space and time is described by its sea state. Knowledge about the sea states a ship encounters on a journey can be used to assess various parameters of risk and wear associated with the…
Accurate recognition of vessel types from Automatic Identification System (AIS) tracks is essential for safety oversight and combating illegal, unreported, and unregulated (IUU) activity. This paper presents a strait-scale, machine-learning…
This paper presents a Mean Field Game (MFG) model for maritime traffic flow, treating the navigation of ships between seaports as a large-scale stochastic control problem. The MFG framework enables the modeling of agents at a microscopic…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
This paper considers planning a path for a single underwater cooperative navigation aid (CNA) vehicle to sequentially aid a set of N agents to minimize average navigation uncertainty. Both the CNA and agents are modeled as constant-velocity…
Complex motion patterns of natural systems, such as fish schools, bird flocks, and cell groups, have attracted great attention from scientists for years. Trajectory measurement of individuals is vital for quantitative and high-throughput…
Containerised shipping underpins global trade, yet container loss at sea remains a persistent safety, environmental, and economic challenge. Despite compliance with Cargo Securing Manuals, dynamic maritime conditions such as vessel motion,…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
The study of the multi-ship air defense model is of great significance in the simulation and evaluation of the actual combat process, the demonstration of air defense tactics, and the improvement of the security of important targets. The…
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…
The integration of Maritime Autonomous Surface Ships (MASS) into global maritime operations represents a transformative shift in the shipping industry, promising enhanced safety, efficiency, and cost-effectiveness. However, the widespread…
Optimization of ship routing depends on several parameters, like ship and cargo characteristics, environmental factors, topography, international navigation rules, crew comfort etc. The complex nature of the problem leads to…
Modern container ships face higher wind loads due to increased windage areas, making accurate predictions of wind loads essential for mooring design. Existing empirical models, largely developed for container ships with smaller windage…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Leveraging empirical data is crucial in the development of accurate and reliable virtual models for the advancement of autonomous ship technologies and the optimization of port operations. This study presents an in-depth analysis of ship…
Cooperative perception is a promising technique for intelligent and connected vehicles through vehicle-to-everything (V2X) cooperation, provided that accurate pose information and relative pose transforms are available. Nevertheless,…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
An optimisation scheme is developed to accurately represent the sub-grid scale forcing of a high dimensional chaotic ocean system. Using a simple parameterisation scheme, the velocity components of a 30km resolution shallow water ocean…