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Larsen, R.B. (author), Atasoy, B. (author), Negenborn, R.R. (author)Controlling systems with both continuous and discrete actuators using model predictive control is often impractical, since mixed-integer optimization problems are too complex to solve sufficiently fast. This paper proposes a parallelizable method to control both the continuous input and the discrete switching signal for linear switched...journal article 2020
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Souravlias, D. (author), Dafnomilis, I. (author), Ley, Jens (author), Assbrock, Gerrit (author), Duinkerken, M.B. (author), Negenborn, R.R. (author), Schott, D.L. (author)The design and development of an offshore port terminal is a complex task that involves distinctive design and decision challenges. In this paper, we propose the implementation of a floating, modular, platform that can act as an additional terminal of a port, with the aim of expanding its current container handling capacity. To this end, we...journal article 2020
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Huang, Yamin (author), Chen, Linying (author), Negenborn, R.R. (author), van Gelder, P.H.A.J.M. (author)Many Collision Avoidance Systems (CAS) for autonomous ships usually presume that a ship's dynamics are completely known in advance. However, precise parameters for ships in different operating conditions are, in fact, uncertain and unknown. The parameter identification of ship dynamics is challenging and time-consuming. Thus, uncertainties in...journal article 2020
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Ye, J. (author), Reppa, V. (author), Negenborn, R.R. (author)Offshore structures with large mass are installed and removed by heavy lift vessels. During offshore constructions, two safety-critical interconnected operations take place, the dynamic positioning of the vessel and the lifting of the heavy structure by an immovable boom crane on the vessel. Existing studies on offshore boom crane control...journal article 2020
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Du, Zhe (author), Reppa, V. (author), Negenborn, R.R. (author)Autonomous surface vehicles (ASVs) are seeing a significant development over the last decade. In recent years, their commercial applications are attracting the attention of many companies. One of the promising subjects is to develop autonomous tugs for ship berthing. This paper focuses on the cooperative control of autonomous tugs for ship...journal article 2020
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Hipolito, Tomas (author), Nabais, Joao Lemos (author), Botto, Miguel Ayala (author), Negenborn, R.R. (author)This paper proposes three different formulations of a centralized Model Predictive Control framework to manage the logistics of continuous-flow Supply Chains subject to fluctuating demand. The Supply Chain is modeled as a dynamical system composed of several players handling commodities from the production phase to the retail phase....journal article 2020
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Piaggio, B. (author), Garofano, V. (author), Donnarumma, S. (author), Alessandri, A. (author), Negenborn, R.R. (author), Martelli, M. (author)This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path....journal article 2020
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Haseltalab, A. (author), Garofano, V. (author), Afzal, Muhammad Raheel (author), Faggioni, Nicoló (author), Li, Shijie (author), Liu, Jialun (author), Ma, Feng (author), Martelli, Michele (author), Singh, Yogang (author), Slaets, Peter (author), You, Xu (author), Negenborn, R.R. (author)The future autonomous ships will be operating in an environment where different autonomous and non-autonomous vessels with different characteristics exist. These vessels are owned by different parties and each uses its owned unique approaches for guidance and navigation. The Collaborative Autonomous Shipping Experiment (CASE) aims at...journal article 2020
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Li, Shijie (author), Liu, Jialun (author), Negenborn, R.R. (author), Wu, Qing (author)Autonomous shipping refers to the ability of a ship to independently control its own actions while transporting cargo from one port to another, which places higher requirements on ship motion control methods. When a ship enters a port, it is important to ensure that the ship sails from the fairway area to the assigned position at the berth...journal article 2020
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Xin, J. (author), Meng, Chuang (author), Schulte, F. (author), Peng, Jinzhu (author), Liu, Yanhong (author), Negenborn, R.R. (author)This article investigates a new collision-free routing problem of a multirobot system. The objective is to minimize the cycle time of operation tasks for each robot while avoiding collisions. The focus is set on the operation of the end-effector and its connected joint, and the operation is projected onto a circular area on the plane. We...journal article 2020
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Guo, W. (author), Atasoy, B. (author), Beelaerts van Blokland, W.W.A. (author), Negenborn, R.R. (author)Multimodal transportation, as an efficient and sustainable alternative to unimodal transportation, refers to the utilization of multiple modes, the utilization of standard loading units, and flexibility in planning. The complexity of multimodal transportation at the operational level lies in being able to deal with dynamic events that are...journal article 2020
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Los, J. (author), Schulte, F. (author), Spaan, M.T.J. (author), Negenborn, R.R. (author)The transportation market requires collaboration to improve efficiency and reduce emissions. Individual carriers, however, might be hesitant to share their private information on a transportation platform. Although a few articles have investigated the value of information sharing, they assume identical behaviour of all carriers. In practice,...journal article 2020
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Hipólito, Tomás (author), Nabais, João Lemos (author), Carmona-Benítez, Rafael (author), Botto, Miguel Ayala (author), Negenborn, R.R. (author)This paper proposes a centralised model predictive control framework to address logistics management of supply chains of perishable goods. Meeting customer specific requirements is decisive to gain a competitive advantage in supply chain management. This fact motivates stakeholders to address solutions that continuously improve supply chain...journal article 2020
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Guo, W. (author), Atasoy, B. (author), Beelaerts van Blokland, W.W.A. (author), Negenborn, R.R. (author)Hinterland intermodal transportation is the movement of containers between deep-sea ports and inland terminals by using trucks, trains, barges, or any combination of them. Synchromodal transportation, as an extension of intermodal transportation, refers to transport systems with dynamic updating of plans by incorporating real-time information...journal article 2020
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Zheng, Shiyuan (author), Zhang, Qiang (author), Beelaerts van Blokland, W.W.A. (author), Negenborn, R.R. (author)This paper examines the development modes of inland ports based on the economic models and the Chinese empirical cases. After reviewing the recent policies in China, four modes, i.e., the government-driven mode, the seaport-driven, the market-driven mode and the corridor-effect mode, are established to describe the development of Chinese...journal article 2020
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Los, J. (author), Schulte, F. (author), Spaan, M.T.J. (author), Negenborn, R.R. (author)Cooperation is important in order to find efficient vehicle routing solutions for the growing transportation market. Increasingly, platforms emerge as facilitators for this kind of collaborative transportation. However, individual actors connected to a platform might refuse to share (parts of) their information due to reasons of competition....journal article 2020
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Chen, L. (author), Huang, Y. (author), Zheng, Huarong (author), Hopman, J.J. (author), Negenborn, R.R. (author)Urban waterways have great potential in cargo transport to relieve the congestion in the overloaded road networks. This paper explores the potential of applying cooperative multi-vessel systems (CMVSs) to improve the safety and efficiency of transport in urban waterway networks. A framework consisting of vessel train formation (VTF) and...journal article 2020
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Wang, K. (author), Li, Jiayuan (author), Yan, Xinping (author), Huang, Lianzhong (author), Jiang, X. (author), Yuan, Yupeng (author), Ma, Ranqi (author), Negenborn, R.R. (author)The optimization of ship energy consumption is attracting a great deal of attention, as societies seek to save energy and reduce emissions. Shipping companies are more concerned with the energy consumption of a ship fleet, as opposed to that of a single ship. Because the energy consumption of a fleet is influenced by multiple factors...journal article 2020
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Van Riessen, Bart (author), Mulder, Judith (author), Negenborn, R.R. (author), Dekker, Rommert (author)The cargo fare class mix (CFCM) problem aims to find the optimal fare class mix for a given intermodal transportation network based on known client demands. It is based on a revenue management problem for aviation passengers, the fare class mix problem, but considering intermodal cargo transportation, two major differences apply. Firstly, the...journal article 2020
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Huang, Y. (author), Chen, L. (author), Negenborn, R.R. (author), van Gelder, P.H.A.J.M. (author)Maritime Autonomous Surface Ships (MASS) attract increasing attention in recent years. Researchers aim at developing fully autonomous systems that replace the role of human operators. Studies either focus on supporting conflict/collision detection (for manned ships) or solving conflict automatically (for unmanned ships). The cooperation...journal article 2020