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Wang, Kai (author), Xue, Yu (author), Xu, Hao (author), Huang, Lianzhong (author), Ma, Ranqi (author), Zhang, Peng (author), Jiang, X. (author), Yuan, Yupeng (author), Negenborn, R.R. (author), Sun, Peiting (author)Wing-diesel engine-powered hybrid ships can effectively reduce fuel consumption and CO<sub>2</sub> emissions by using wind energy as the auxiliary driving power. The energy optimization management of the hybrid system can further improve the ship's energy efficiency. To achieve this purpose, it is significant to establish an effective energy...journal article 2022
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Tsolakis, A. (author), Benders, D. (author), de Groot, O.M. (author), Negenborn, R.R. (author), Reppa, V. (author), Ferranti, L. (author)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...journal article 2022
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Kougiatsos, N. (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a distributed model-based methodology for the detection and isolation of sensor faults in marine fuel engines. The proposed method considers a Mean Value First Principle model and a wide selection of heterogeneous sensors for monitoring the engine components. The detection of faults is realised based on residuals generated...journal article 2022
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Zhang, Y. (author), Atasoy, B. (author), Negenborn, R.R. (author)Decision-makers in synchromodal transport (ST) have different preferences toward different objectives, such as cost, time, and emissions. To solve the conflicts among objectives and obtain preferred solutions, a preference-based multi-objective optimization model is developed. In ST, containers need to be transferred across modes, therefore...journal article 2022
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Zhang, Y. (author), Guo, W. (author), Negenborn, R.R. (author), Atasoy, B. (author)As a critical feature of synchromodal transport (ST), service flexibility plays an important role in improving the utilization of resources to reduce costs, emissions, congestions, and delays. However, none of the existing studies considered flexible services under the framework of synchromodality. This paper develops a Mixed Integer Linear...journal article 2022
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a distributed control scheme for autonomous tugboats to tow a ship in a restricted water traffic environment ensuring collision avoidance while being compliant with maritime regulation called COLREGS. The complex problem is cooperatively solved by addressing three sub-optimization problems. The first is to optimize the...journal article 2022
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van Biert, L. (author), Segovia Castillo, P. (author), Haseltalab, A. (author), Negenborn, R.R. (author)The maritime industry is actively exploring alternative fuels and drive train technology to reduce the emissions of hazardous air pollutants and greenhouse gases. High temperature solid oxide fuel cells (SOFCs) represent a promising technology to generate electric power on ships from a variety of renewable fuels with high efficiencies and no...journal article 2022
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Kougiatsos, N. (author), Negenborn, R.R. (author), Reppa, V. (author)Nowadays, marine vessels constitute safety-critical assets facilitating the transport of millions of passengers and tons of cargo worldwide. As such, they require a large number of heterogeneous sensors dispersed in the various on-board machinery for operational and condition monitoring of their vital systems, such as the propulsion system....journal article 2022
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Segovia Castillo, P. (author), Negenborn, R.R. (author), Reppa, V. (author)This paper addresses the problem of guaranteeing efficient inland waterway transport in the presence of sequential movable bridges, which must be operated to grant vessel passage. The main contribution is the formulation of the vessel passage scheduling problem as a mixedinteger programming problem. The scheduling algorithm receives vessel...journal article 2022
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Alves Beirigo, B. (author), Schulte, F. (author), Negenborn, R.R. (author)Current mobility services cannot compete on equal terms with self-owned mobility products concerning service quality. Because of supply and demand imbalances, ridesharing users invariably experience delays, price surges, and rejections. Traditional approaches often fail to respond to demand fluctuations adequately because service levels are,...journal article 2022
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Multi-Objective Cooperative Control for a Ship-Towing System in Congested Water Traffic EnvironmentsDu, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)This paper proposes a multi-objective cooperative control method for a ship-towing system in congested water traffic environments. The control objectives are to coordinate multiple autonomous tugboats for transporting a ship to: (i) follow the waypoints, (ii) adjust the heading, (iii) track the speed profile, and (iv) resolve collisions. The...journal article 2022
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Zhang, Y. (author), Heinold, Arne (author), Meisel, Frank (author), Negenborn, R.R. (author), Atasoy, B. (author)Sustainability is a common concern in intermodal transport. Collaboration among carriers may help in reducing emissions. In this context, this work establishes a collaborative planning model for intermodal transport and uses eco-labels (a series of different levels of emission ranges) to reflect shippers’ sustainability preferences. A...journal article 2022
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Xin, Jianbin (author), Qu, Yaoguang (author), Zhang, Fangfang (author), Negenborn, R.R. (author)Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance. This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control (MPCC). MPCC allows separating the tracking accuracy and...journal article 2022
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Haseltalab, A. (author), Wani, F.M. (author), Negenborn, R.R. (author)Power availability to preserve propulsion is a vital issue in the shipping industry which relies on persistent power generation and maintaining the stability of the power and propulsion system. Since the introduction of on-board all-electric Direct Current Power and Propulsion Systems (DC-PPS) with hybrid power generation, which are more...journal article 2022
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He, Zhibo (author), Liu, Chenguang (author), Chu, Xiumin (author), Negenborn, R.R. (author), Wu, Qing (author)For the complex multi-ship encounter scenarios, this article proposes a dynamic collision avoidance path planning algorithm based on the A-star algorithm and ship navigation rules, namely Dynamic Anti-collision A-star (DAA-star) algorithm. A dynamic search mechanism of the DAA-star algorithm considering time factors is designed to enable the...journal article 2022
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Zhang, Y. (author), Li, X. (author), van Hassel, E.B.H.J. (author), Negenborn, R.R. (author), Atasoy, B. (author)In synchromodal transport, a freight forwarder usually serves multiple shippers with heterogeneous and vague preferences, such as low-cost, fast, or reliable transport. Ignoring shippers’ preferences will negatively impact the satisfaction of shippers and lead to the loss of them in the longer run. In order to incorporate these preferences, a...journal article 2022
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You, Xu (author), Yan, Xinping (author), Liu, Jialun (author), Li, Shijie (author), Negenborn, R.R. (author)This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make the heterogeneous followers keep the desired formation while tracking a leader. To solve the problem effectively, a novel virtual leader–follower formation...journal article 2022
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Alves Beirigo, B. (author), Negenborn, R.R. (author), Alonso-Mora, J. (author), Schulte, F. (author)With the popularization of transportation network companies (TNCs) (e.g., Uber, Lyft) and the rise of autonomous vehicles (AVs), even major car manufacturers are increasingly considering themselves as autonomous mobility-on-demand (AMoD) providers rather than individual vehicle sellers. However, matching the convenience of owning a vehicle...journal article 2022
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Guo, W. (author), Atasoy, B. (author), Negenborn, R.R. (author)Global synchromodal transportation involves the movement of container shipments between inland terminals located in different continents using ships, barges, trains, trucks, or any combination among them through integrated planning at a network level. One of the challenges faced by global operators is the matching of accepted shipments with...journal article 2022
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Los, J. (author), Schulte, F. (author), Gansterer, Margaretha (author), Hartl, Richard F. (author), Spaan, M.T.J. (author), Negenborn, R.R. (author)Carriers can remarkably reduce transportation costs and emissions when they collaborate, for example through a platform. Such gains, however, have only been investigated for relatively small problem instances with low numbers of carriers. We develop auction-based methods for large-scale dynamic collaborative pickup and delivery problems,...journal article 2022