Human Factors, autonomous ships and constrained coastal navigation

Definitions for Autonomous Merchant Ships

Simultaneous human and autonomous control with constrained human action

An approach to the control of an autonomous process with human supervision is presented. The process is modelled as a discrete event system which allows for human intervention. For eeective control, the autonomous system should control most of the process, with the human only interfering in an unmodelled situation. This shared control must therefore allow the human to innuence the autonomous sy...

Point-to-point navigation of underactuated ships

This paper considers point-to-point navigation of underactuated ships where only surge force and yaw moment are available. In general, a ship’s sway motion satisfies a passive-boundedness property which is expressed in terms of a Lyapunov function. Under this kind of consideration, a certain concise nonlinear scheme is proposed to guarantee the closed-loop system to be uniformly ultimately boun...

A Navigation System for Autonomous Robot Operating in Unknown and Dynamic Environment: Escaping Algorithm

In this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. It is assumed that the robot performs navigation in...

Navigation of Spacetime Ships in Unified Gravitational and Electromagnetic Waves

On the basis of a “local” principle of equivalence of general relativity, we consider a navigation in a kind of “4D-ocean” involving measurements of conformally invariant physical properties only. Then, applying the Pfaff theory for PDE to a particular conformally equivariant system of differential equations, we show the dependency of any kind of function describing “spacetime waves”, with resp...