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Garofano, V. (author), Hepworth, M. (author), Shahin, R. (author), Pang, Y. (author), Negenborn, R.R. (author)In this study, we investigated autonomous vessel obstacle avoidance using advanced techniques within the Guidance, Navigation, and Control (GNC) framework. We propose a Mixed Integer Linear Programming (MILP) based Guidance system for robust path planning avoiding static and dynamic obstacles. For Navigation, we suggest a multi-modal neural...journal article 2024
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Garofano, V. (author), Hepworth, M. (author), Shahin, R. (author)The framework of an autonomous vessel is typically composed of three distinct and independent blocks known as the Guidance, Navigation and Control (GNC) system. This paper presents a combination of advanced complementary techniques in the different GNC subsystems to improve upon the current common practices/state of the art in obstacle...journal article 2022