30 citations · 42 across the 12 of their papers we have counts for
6 papers · 1 filter
Adaptive Entropy-Driven Sensor Selection in a Camera-LiDAR Particle Filter for Single-Vessel Tracking
Andrei Starodubov, Yaqub Aris Prabowo, Andreas Hadjipieris +2
Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performan…
Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective
Thomas T. Enevoldsen, Mogens Blanke, Roberto Galeazzi
This paper provides a collision avoidance perspective to maritime autonomy, in the shift towards Maritime Autonomous Surface Ships (MASS). In particular, the paper presents the dev…
Informed Sampling-based Collision Avoidance with Least Deviation from the Nominal Path
Thomas T. Enevoldsen, Roberto Galeazzi
This paper addresses local path re-planning for -dimensional systems by introducing an informed sampling scheme and cost function to achieve collision avoidance with minimum dev…
Grounding-aware RRT* for Path Planning and Safe Navigation of Marine Crafts in Confined Waters
Thomas T. Enevoldsen, Roberto Galeazzi
The paper presents a path planning algorithm based on RRT* that addresses the risk of grounding during evasive manoeuvres to avoid collision. The planner achieves this objective by…
Guaranteed Rejection-free Sampling Method Using Past Behaviours for Motion Planning of Autonomous Systems
Thomas T. Enevoldsen, Roberto Galeazzi
The paper presents a novel learning-based sampling strategy that guarantees rejection-free sampling of the free space under both biased and approximately uniform conditions, levera…
COLREGs-Informed RRT* for Collision Avoidance of Marine Crafts
Thomas Thuesen Enevoldsen, Christopher Reinartz, Roberto Galeazzi
The paper proposes novel sampling strategies to compute the optimal path alteration of a surface vessel sailing in close quarters. Such strategy directly encodes the rules for safe…