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Xin, Jianbin (author), Wu, Xuwen (author), D'Ariano, Andrea (author), Negenborn, R.R. (author), Zhang, Fangfang (author)Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...journal article 2023
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Du, Zhe (author), Negenborn, R.R. (author), Reppa, V. (author)Transportation of a large offshore platform from inland waters to the open sea is a hazardous and challenging mission. With the development of the autonomous surface vessel (ASV), the problem of large floating object transportation has a chance to be solved by applying multiple physical-connected autonomous tugboats. This article proposes a...journal article 2023
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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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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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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), 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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Guo, W. (author), Atasoy, B. (author), Beelaerts van Blokland, W.W.A. (author), Negenborn, R.R. (author)This paper investigates a dynamic and stochastic shipment matching problem faced by network operators in hinterland synchromodal transportation. We consider a platform that receives contractual and spot shipment requests from shippers, and receives multimodal services from carriers. The platform aims to provide optimal matches between...journal article 2021
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Guo, W. (author), Atasoy, B. (author), Beelaerts van Blokland, W.W.A. (author), Negenborn, R.R. (author)This paper investigates a dynamic and stochastic shipment matching problem, in which a platform aims to provide online decisions on accepting or rejecting newly received shipment requests and decisions on shipment-to-service matches in global synchromodal transportation. The problem is considered dynamic since the platform receives requests...journal article 2021
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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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Alves Beirigo, B. (author), Schulte, F. (author), Negenborn, R.R. (author)Residents of cities’ most disadvantaged areas face significant barriers to key life activities, such as employment, education, and healthcare, due to the lack of mobility options. Shared autonomous vehicles (SAVs) create an opportunity to overcome this problem. By learning user demand patterns, SAV providers can improve regional service...conference paper 2020
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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)While collaborative vehicle routing has a significant potential to reduce transportation costs and emissions, current approaches are limited in terms of applicability, unrealistic assumptions, and low scalability. Centralized planning generally assumes full information and full control, which is often unacceptable for individual carriers....conference paper 2020
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Neijmeijer, Nout (author), Schulte, F. (author), Tierney, Kevin (author), Polinder, H. (author), Negenborn, R.R. (author)Dynamic pricing can be used for better fleet distribution in free-floating vehicle sharing (FFVS), and thus increase utilization and revenue for the provider by reducing supply-demand asymmetry. Supply-demand asymmetry refers to the existence of an undersupply of vehicles at some locations at the same time as underutilization of vehicles at...conference paper 2020
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Zheng, Huarong (author), Jin, Chen (author), Luo, Xiling (author), Negenborn, R.R. (author), Wang, Yuexuan (author)The demand for transport between terminals within port areas, known as inter terminal transport (ITT), is increasing. This paper proposes a dynamic rolling horizon scheduling strategy for ITT using waterborne Autonomous Guided Vessels (waterborne AGVs). The strategy is dynamic in that it can handle the dynamically arriving ITT requests and...conference paper 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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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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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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Zheng, Huarong (author), Wu, Jun (author), Wu, Weimin (author), Negenborn, R.R. (author)The rapidly developing computing and communication technologies improve the autonomy of individual vehicles on the one hand and facilitate the coordination among vehicles on the other. In the context of dynamic speed management, this study considers a platoon of intelligent vehicles that are required to maintain desired inter-vehicle spaces and...journal article 2019
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Haseltalab, A. (author), Negenborn, R.R. (author)Motion control is one of the most critical aspects in the design of autonomous ships. During maneuvering, the dynamics of propellers as well as the craft hydrodynamical specifications experience severe uncertainties. In this paper, an adaptive control approach is proposed to control the motion and trajectory tracking of an autonomous vessel...journal article 2019
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Wang, K. (author), Yan, Xinping (author), Yuan, Yupeng (author), Jiang, X. (author), Lin, X. (author), Negenborn, R.R. (author)Nowadays, optimization of ship energy efficiency attracts increasing attention in order to meet the requirement for energy conservation and emission reduction. Ship operation energy efficiency is significantly influenced by environmental factors such as wind speed and direction, water speed and depth. Owing to inherent time-variety and...journal article 2018
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Corman, F. (author), Viti, F. (author), Negenborn, R.R. (author)Optimizing the performance of multimodal freight transport networks involves adequately balancing the interplay between costs, volumes, times of departure and arrival, and times of travel. In order to study this interplay, we propose an assignment model that is able to efficiently determine flows and costs in a multimodal network. The model is...journal article 2015