91 citations · 213 across the 16 of their papers we have counts for
4 papers · 1 filter
Autonomous docking using direct optimal control
Andreas B. Martinsen, Anastasios M. Lekkas, Sebastien Gros
We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of s…
Improvements to Warm-Started Optimized Trajectory Planning for ASVs
Glenn Bitar, Anastasios M. Lekkas, Morten Breivik
We present improvements to a recently developed method for trajectory planning for autonomous surface vehicles (ASVs) in terms of run time. The original method combines two types o…
Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17
Bjørn-Olav H. Eriksen, Glenn Bitar, Morten Breivik +1
This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13-17 of the International Regulations for…
Warm-Started Optimized Trajectory Planning for ASVs
Glenn Bitar, Vegard N. Vestad, Anastasios M. Lekkas +1
We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickl…