30 citations · 49 across the 7 of their papers we have counts for
7 papers
Closed Form Modelling and Identification of Banking Effects in Confined Waters
Jeppe H. Mikkelsen, Thomas T. Enevoldsen, Bugge T. Jensen +3
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, signif…
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…
Autonomous Navigation in Confined Waters -- A COLREGs Rule 9 Compliant Framework
Peter Nicholas Hansen, Thomas T. Enevoldsen, Dimitrios Papageorgiou +1
Fully or partial autonomous marine vessels are actively being developed by many industry actors. In many cases, the autonomous vessels will be operating close to shore, and within…
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…