Maritime traffic is becoming more complex every day. At present, due to technological advances and to new maritime regulations, there is increasing demand for new nautical marine instruments to be installed into the bridge, and the breadth of navigational information complicates on-duty officers’ decisions. Therefore, if decision support tools can be used to help deal with navigational decision...

In this work, a tradespace was introduced allowing a weighted combination of a course change and speed change when deviating from the preferred velocity vector in protocol-constrained autonomous collision avoidance algorithms. A novel iterative geometry testing technique was introduced and key evaluation metrics were studied including the introduction of a protocol-compliance metric for collisi...

Collision avoidance for vessels highly depends on a robust obstacle detection. This is commonly achieved by use of high precision radar sensing. For smaller vessels however, the use of low-cost sensors is typical. The idea of this work is to improve the robustness of collision avoidance by integrating a sensor model together with the collision avoidance algorithm in order to consider the accura...

In this paper we present a formal approach to reciprocal collision avoidance for multiple mobile robots sharing a common 2-D or 3-D workspace whose dynamics are subject to linear differential constraints. Our approach defines a protocol for robots to select their control input independently (i.e. without coordination with other robots) while guaranteeing collision-free motion for all robots, as...

For the past few years, several developments have been accomplished in crowd simulation. These kinds of simulations already used in films, games, walkthrough simulation and urban simulation. All these applications need an efficient and believability crowd simulation. This research will concern on one of the important parts in simulating the crowd namely collision avoidance. The importance of im...

This paper presents a new Collision Avoidance (CA) Algorithm which uses Elastic Band Theory. Researchers tried to develop warning systems to avoid collisions which warn drivers of possible collision risk with audio and or visual signs. However, these systems are not sufficient for avoidance of a collision in situations where the driver gives no response to the warnings. CA System is a kind of A...

Steady states of alternating-current (AC) circuits have been studied in considerable detail. In 1982, Baillieul and Byrnes derived an upper bound on the number of steady states in a loss-less AC circuit [IEEE TCAS, 29(11): 724–737] and conjectured that this bound holds for AC circuits in general. We prove this is indeed the case, among other results, by studying a certain multi-homogeneous stru...