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- W3207668814 abstract "This paper offers a multi-layer planning approach for autonomous surface vessels (ASVs) that must adhere to good seamanship practices and the International Regulations for Prevention of Collisions at Sea (COLREGS) [1]. The approach combines novel situational awareness logic with motion primitive-based planners in a receding horizon framework. Further, ship domain and ship arena concepts are used to develop risk metrics that capture COLREGS compliance and the notion of good seamanship. By relying on metrics-driven motion planning as opposed to rule-based conditions, the proposed framework scales naturally to non-trivial single-vessel and multi-vessel situations. The planner is evaluated using adaptive, simulation-based testing to statistically compare the performance to other standard methods. Finally, proof-of-concept field experiments are presented on a subscale platform." @default.
- W3207668814 created "2021-10-25" @default.
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- W3207668814 date "2021-05-30" @default.
- W3207668814 modified "2023-09-26" @default.
- W3207668814 title "A Primitive-Based Approach to Good Seamanship Path Planning for Autonomous Surface Vessels" @default.
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- W3207668814 doi "https://doi.org/10.1109/icra48506.2021.9561507" @default.
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