COLREGs-aware Trajectory Optimization for Autonomous Surface Vessels

This paper presents a rule-compliant trajectory optimization method for the guidance and control of autonomous surface vessels. The method builds on Model Predictive Contouring Control and incorporates the International Regulations for Preventing Collisions at Sea - known as COLREGs - relevant for motion planning. We use these traffic rules...

Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals

With a growing number of citizens and tourists, the scarce public space, roads, and public transport in Amsterdam are experiencing rising pressure. Instead of utilizing the conventional transportation routes, Autonomous Surface Vessels (ASVs) could transport goods and people via the 165 canals present in Amsterdam. <br/>However, urban canals are...

Waste Collection in Amsterdam Centrum Using Autonomous Vessels: Optimization of container type selection and location for household waste collection in Amsterdam Centrum with Autonomous Vessels (Roboats)

This research strives to contribute to the solution of the Amsterdam waste problem by improving the location determination of the various container types within the Centrum area. One of the modalities is an autonomous surface vehicle (ASV), and in this case, a Roboat. Since it is not possible to assign all demand to one modality, also trucks and...

Roboat Formation Control: Sailing in Formation for Waste Transport using Roboat units

Formation control of autonomous surface vessels (ASVs) is researched extensively in the last years, since it has promising applications. However very few designed strategies have been validated during real experiments. In this research, two<br/>control methods for distributed leader-follower formation control are proposed: A Nonlinear Model...