26 citations · 28 across the 7 of their papers we have counts for
7 papers
Staying on Spec: Real-Time Monitoring under Uncertainty with a Maritime Case Study
Elizabeth Dietrich, Hanna Krasowski, Emir Cem Gezer +3
Robotic systems must operate under uncertainty while satisfying complex task and safety specifications. Monitoring such specifications under uncertainty remains challenging, as exi…
Risk-Aware Obstacle Avoidance Algorithm for Real-Time Applications
Ozan Kaya, Emir Cem Gezer, Roger Skjetne +1
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aw…
pacSTL: PAC-Bounded Signal Temporal Logic from Data-Driven Reachability Analysis
Hanna Krasowski, Elizabeth Dietrich, Emir Cem Gezer +3
Signal Temporal Logic (STL) is an expressive language for specifying behaviors of dynamical systems from continuous signals. However, a limitation of standard STL is its inherently…
Maneuvering-based Dynamic Thrust Allocation for Fully-Actuated Vessels
Emir Cem Gezer, Roger Skjetne
This paper introduces a new approach to solving the thrust allocation problem using the maneuvering problem in the maritime domain for fully actuated vessels. The method uses a con…
Digital-physical testbed for ship autonomy studies in the Marine Cybernetics Laboratory basin
Emir Cem Gezer, Mael Korentin Ivan Moreau, Anders Sandneseng Høgden +3
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simul…
Symbolic Control for Autonomous Docking of Marine Surface Vessels
Elizabeth Dietrich, Emir Cem Gezer, Bingzhuo Zhong +4
We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat t…
A Guidance and Maneuvering Control System Design with Anti-collision Using Stream Functions with Vortex Flows for Autonomous Marine Vessels
Hongyu Zhou, Zhengru Ren, Mathias Marley +1
Autonomous marine vessels are expected to avoid inter-vessel collisions and comply with the international regulations for safe voyages. This paper presents a stepwise path planning…