30 citations · 49 across the 7 of their papers we have counts for
6 papers · 1 filter
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…