Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours

Dimitrios Papageorgiou; Mogens Blanke; Marie Lützen; Mette Bennedsen; John Mogensen; Søren Hansen

doi:10.1016/j.ifacol.2019.12.291

Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours

Dimitrios Papageorgiou, Mogens Blanke, Marie Lützen, Mette Bennedsen, John Mogensen, Søren Hansen

Svendborg International Maritime Academy

Research output: Contribution to journal › Journal article › Research › peer-review

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Abstract

With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessment
from decision making. An intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.

Original language	English
Book series	IFAC-PapersOnLine
Volume	52
Issue number	21
Pages (from-to)	103-110
ISSN	2405-8963
DOIs	https://doi.org/10.1016/j.ifacol.2019.12.291
Publication status	Published - 2019
Event	12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019) - KAIST, Daejeon, Korea, Republic of Duration: 18 Sept 2019 → 20 Sept 2019

Conference

Conference	12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019)
Location	KAIST
Country/Territory	Korea, Republic of
City	Daejeon
Period	18/09/2019 → 20/09/2019

Keywords

Autonomous vessels
Situation assessment
Discrete-event systems
Finite-state automata
COLREGs representation
Collision avoidance

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1016/j.ifacol.2019.12.291

FulltextSubmitted manuscript, 415 KB

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Full text

ShippingLab Autonomy
Blanke, M. (PI), Galeazzi, R. (CoPI), Dittmann, K. (CoPI), Hansen, S. (CoPI), Papageorgiou, D. (Supervisor), Nalpantidis, L. (Supervisor), Schöller, F. E. T. S. (PhD Student), Plenge-Feidenhans'l, M. K. (PhD Student), Hansen, N. (PhD Student), Andersen, R. H. (Project Participant), Becktor, J. B. (PhD Student), Enevoldsen, T. T. (PhD Student), Dagdilelis, D. (PhD Student), Karstensen, P. I. H. (Project Participant), Nielsen, R. E. (Project Participant), Garde, J. (Project Participant), Ravn, O. (Supervisor), Christin, L. P. E. (PI) & Nielsen, R. E. (Project Participant)
01/04/2019 → 31/12/2022
Project: Research
ASAN: Autonomous Situation Awareness for Navigation
Blanke, M. (PI), Hansen, S. (Project Participant), Papageorgiou, D. (Project Participant) & Stets, J. D. (Project Participant)
01/12/2018 → 31/03/2021
Project: Research

Cite this

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title = "Parallel Automaton Representation of Marine Crafts{\textquoteright} COLREGs-based Manoeuvering Behaviours",

abstract = "With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessmentfrom decision making. An intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.",

keywords = "Autonomous vessels, Situation assessment, Discrete-event systems, Finite-state automata, COLREGs representation, Collision avoidance",

author = "Dimitrios Papageorgiou and Mogens Blanke and Marie L{\"u}tzen and Mette Bennedsen and John Mogensen and S{\o}ren Hansen",

year = "2019",

doi = "10.1016/j.ifacol.2019.12.291",

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AU - Bennedsen, Mette

AU - Mogensen, John

AU - Hansen, Søren

PY - 2019

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N2 - With international rules of navigation, the IMO COLREGS, describing the regulatory behaviours of marine vessels relative to each other, correct interpretation of situations is instrumental to the successful navigation at sea. This becomes even more crucial when temporal unattended bridge or fully unmanned navigation is aimed at. Based on a breakdown of COLREG rules, this paper presents a framework for representation of manoeuvering behaviours, that are expected when all vessels obey the rules. Our analysis is based on discrete-event systems theory and the proposed framework consists of sets of finite automata, segregating situation assessmentfrom decision making. An intermediate supervisory layer coordinates the communication of these automata modules. The framework is tested in simulation environment using a realistic scenario.

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KW - Autonomous vessels

KW - Situation assessment

KW - Discrete-event systems

KW - Finite-state automata

KW - COLREGs representation

KW - Collision avoidance

U2 - 10.1016/j.ifacol.2019.12.291

DO - 10.1016/j.ifacol.2019.12.291

M3 - Journal article

SN - 2405-8963

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SP - 103

EP - 110

JO - IFAC-PapersOnLine

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Parallel Automaton Representation of Marine Crafts’ COLREGs-based Manoeuvering Behaviours

Abstract

Conference

Keywords

UN SDGs

Access to Document

OpenUrl availability

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Projects

ShippingLab Autonomy

ASAN: Autonomous Situation Awareness for Navigation

Cite this