相关论文: Intelligent Sailing Model for Open Sea Navigation

One of the challenges of Industry 4.0, is to determine and optimize the flow of data, products and materials in manufacturing companies. To realize these challenges, many solutions have been defined such as the utilization of automated…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

Predicting motions of vessels in extreme sea states represents one of the most challenging problems in naval hydrodynamics. It involves computing complex nonlinear wave-body interactions, hence taxing heavily computational resources. Here,…

As connected autonomous vehicles (CAVs) become increasingly prevalent, there is a growing need for simulation platforms that can accurately evaluate CAV behavior in large-scale environments. In this paper, we propose Flowsim, a novel…

The Intelligent Driver Model (IDM), proposed in 2000, has become a foundational tool in traffic flow modeling, renowned for its simplicity, computational efficiency, and ability to capture diverse traffic dynamics. Over the past 25 years,…

Integrated sensing and communication (ISAC) enables simultaneous localization, environment perception, and data exchange for connected autonomous vehicles. However, most existing ISAC designs prioritize sensing accuracy and communication…

Here, we present the concept of an open virtual prototyping framework for maritime systems and operations that enables its users to develop re-usable component or subsystem models, and combine them in full-system simulations for…

In the field of Maritime Autonomous Surface Ships (MASS), the accurate modeling of ship maneuvering motion for harbor maneuvers is a crucial technology. Non-parametric system identification (SI) methods, which do not require prior knowledge…

Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…

Tracking multiple moving objects in real-time in a dynamic threat environment is an important element in national security and surveillance system. It helps pinpoint and distinguish potential candidates posing threats from other normal…

Recently, a fully two-dimensional microscopic traffic flow model for lane-free vehicular traffic flow has been proposed [Physica A, 509, pp. 1-11 (2018)]. In this contribution, we generalize this model to describe any kind of human-driven…

Navigating human-filled spaces is crucial for the interactive social robots to support advanced services, such as cooperative carrying, which enables service provision in complex and crowded environments while adapting behavior based on…

Heading towards navigational autonomy in unmanned surface vehicles (USVs) in the maritime sector can fundamentally lead towards safer waters as well as reduced operating costs, while also providing a range of exciting new capabilities for…

This contribution analyzes the widely used and well-known "intelligent driver model (briefly IDM), which is a second order car-following model governed by a system of ordinary differential equations. Although this model was intensively…

In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…

This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model…

In recent years, maritime safety and efficiency become more and more important across the world. Automatic Identification System (AIS) tracks vessel movement by onboard transceiver and terrestrial and/or satellite base station. The data…

This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…

Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…

We present a system for online monitoring of maritime activity over streaming positions from numerous vessels sailing at sea. It employs an online tracking module for detecting important changes in the evolving trajectory of each vessel…