{"id":"https://openalex.org/W7225642004","doi":"https://doi.org/10.3390/jmse14212114","title":"Empirical Probabilistic Roadmap Informed by Automatic Identification System Trajectories for Ship Path Planning Under Tidal Variations in Coastal Waters","display_name":"Empirical Probabilistic Roadmap Informed by Automatic Identification System Trajectories for Ship Path Planning Under Tidal Variations in Coastal Waters","publication_year":2026,"publication_date":"2026-11-07","ids":{"openalex":"https://openalex.org/W7225642004","doi":"https://doi.org/10.3390/jmse14212114"},"language":"en","primary_location":{"id":"doi:10.3390/jmse14212114","doi":"https://doi.org/10.3390/jmse14212114","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jmse14212114","pdf_url":null,"source":{"id":"https://openalex.org/S2736865057","display_name":"Journal of Marine Science and Engineering","issn_l":"2077-1312","issn":["2077-1312"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Marine Science and Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/jmse14212114","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5161310587","display_name":"Su-Bong Kwak","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I185573737","display_name":"Mokpo National Maritime University","ror":"https://ror.org/023jsyh61","country_code":"KR","type":"education","lineage":["https://openalex.org/I185573737"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Su-Bong Kwak","raw_affiliation_strings":["Department of Maritime Transportation System, Mokpo National Maritime University, Mokpo 58628, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Maritime Transportation System, Mokpo National Maritime University, Mokpo 58628, Republic of Korea","institution_ids":["https://openalex.org/I185573737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018712999","display_name":"Da-Un Jang","orcid":"https://orcid.org/0000-0003-0908-2332","observed_orcids":["https://orcid.org/0000-0003-0908-2332"]},"institutions":[{"id":"https://openalex.org/I185573737","display_name":"Mokpo National Maritime University","ror":"https://ror.org/023jsyh61","country_code":"KR","type":"education","lineage":["https://openalex.org/I185573737"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Da-Un Jang","raw_affiliation_strings":["Division of Cadet Training, Mokpo National Maritime University, Mokpo 58628, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-0908-2332","affiliations":[{"raw_affiliation_string":"Division of Cadet Training, Mokpo National Maritime University, Mokpo 58628, Republic of Korea","institution_ids":["https://openalex.org/I185573737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086573756","display_name":"Chan-Sub Lee","orcid":"https://orcid.org/0009-0000-9999-1761","observed_orcids":["https://orcid.org/0009-0000-9999-1761"]},"institutions":[{"id":"https://openalex.org/I2799698112","display_name":"Korea Institute of Maritime and Fisheries Technology","ror":"https://ror.org/01q61bm94","country_code":"KR","type":"government","lineage":["https://openalex.org/I2799698112"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Chan-Sub Lee","raw_affiliation_strings":["Mokpo Branch for Maritime Safety, Korea Institute of Maritime and Fisheries Technology, Mokpo 58625, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0000-9999-1761","affiliations":[{"raw_affiliation_string":"Mokpo Branch for Maritime Safety, Korea Institute of Maritime and Fisheries Technology, Mokpo 58625, Republic of Korea","institution_ids":["https://openalex.org/I2799698112"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086573756"],"corresponding_institution_ids":["https://openalex.org/I2799698112"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"21","first_page":"2114","last_page":"2114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6362000107765198,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6362000107765198,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.36250001192092896,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11106","display_name":"Data Management and Algorithms","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ship-path-planning","display_name":"ship path planning","score":0.9959999918937683},{"id":"https://openalex.org/keywords/tidal-variation","display_name":"tidal variation","score":0.7369999885559082},{"id":"https://openalex.org/keywords/coastal-waters","display_name":"coastal waters","score":0.5989999771118164},{"id":"https://openalex.org/keywords/trajectory-similarity","display_name":"trajectory similarity","score":0.6290000081062317},{"id":"https://openalex.org/keywords/modified-hausdorff-distance","display_name":"modified Hausdorff distance","score":0.8140000104904175},{"id":"https://openalex.org/keywords/dynamic-time-warping","display_name":"dynamic time warping","score":0.9200000166893005},{"id":"https://openalex.org/keywords/longest-common-subsequence","display_name":"longest common subsequence","score":0.9229999780654907},{"id":"https://openalex.org/keywords/mokpo","display_name":"Mokpo","score":0.6959999799728394}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.714900016784668},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6814000010490417},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6079999804496765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5672000050544739},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5324000120162964},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49950000643730164},{"id":"https://openalex.org/C146997752","wikidata":"https://www.wikidata.org/wiki/Q787197","display_name":"Automatic Identification System","level":2,"score":0.4374000132083893},{"id":"https://openalex.org/C141898687","wikidata":"https://www.wikidata.org/wiki/Q1501997","display_name":"Hausdorff distance","level":2,"score":0.42320001125335693},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.3978999853134155},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.38850000500679016},{"id":"https://openalex.org/C120936955","wikidata":"https://www.wikidata.org/wiki/Q2155640","display_name":"Empirical research","level":2,"score":0.3781999945640564},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.36719998717308044},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.353300005197525},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.3508000075817108},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3312000036239624},{"id":"https://openalex.org/C127491075","wikidata":"https://www.wikidata.org/wiki/Q7617825","display_name":"Stochastic modelling","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3075000047683716},{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2969000041484833},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C151342819","wikidata":"https://www.wikidata.org/wiki/Q62542","display_name":"Phase space","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2578999996185303},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/jmse14212114","doi":"https://doi.org/10.3390/jmse14212114","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jmse14212114","pdf_url":null,"source":{"id":"https://openalex.org/S2736865057","display_name":"Journal of Marine Science and Engineering","issn_l":"2077-1312","issn":["2077-1312"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Marine Science and Engineering","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/jmse14212114","doi":"https://doi.org/10.3390/jmse14212114","is_oa":true,"landing_page_url":"https://doi.org/10.3390/jmse14212114","pdf_url":null,"source":{"id":"https://openalex.org/S2736865057","display_name":"Journal of Marine Science and Engineering","issn_l":"2077-1312","issn":["2077-1312"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-40","russia-white-list-2","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Marine Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.7207000255584717}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322011","display_name":"Ministry of Oceans and Fisheries","ror":"https://ror.org/00c5s4a53"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4415258261","https://openalex.org/W4409447822","https://openalex.org/W4410457563","https://openalex.org/W2943627583","https://openalex.org/W4319777662","https://openalex.org/W2791526010","https://openalex.org/W4377232828","https://openalex.org/W2890076137","https://openalex.org/W7117133077","https://openalex.org/W3183456729"],"abstract_inverted_index":{"Coastal":[0],"waters":[1,266],"are":[2],"characterized":[3],"by":[4],"complex":[5],"spatial":[6],"constraints,":[7],"including":[8],"narrow":[9],"channels,":[10],"irregular":[11],"shorelines,":[12],"and":[13,59,79,151,164,183,200,244,273,278],"shallow-water":[14],"areas.":[15],"To":[16],"address":[17],"these":[18],"challenges,":[19],"this":[20],"study":[21,214],"proposes":[22],"an":[23,99,106],"Empirical":[24],"Probabilistic":[25,143],"Roadmap":[26,144],"(EPRM)":[27],"method":[28,129],"for":[29,111,284],"ship":[30],"path":[31,160],"planning":[32],"based":[33],"on":[34],"Automatic":[35],"Identification":[36],"System":[37],"(AIS)":[38],"trajectory":[39,89],"data.":[40],"Historical":[41],"AIS":[42,168,206],"data":[43],"of":[44,54,76,114,159],"a":[45,269],"regularly":[46],"operated":[47],"coastal":[48],"passenger":[49],"ferry":[50],"near":[51],"Mokpo,":[52],"Republic":[53],"Korea,":[55],"were":[56,81,96,239,249],"cleaned,":[57],"interpolated,":[58],"resampled":[60],"at":[61],"common":[62],"longitude":[63],"intervals.":[64],"An":[65],"empirical":[66,108,246],"navigable":[67,109,247],"space":[68,110,262],"was":[69,130,172,220],"then":[70],"generated":[71,194,240],"from":[72],"the":[73,77,88,112,124,138,142,146,192,201,209,213,223,227,236,242,260],"outer":[74],"boundaries":[75],"trajectories,":[78],"nodes":[80],"preferentially":[82],"sampled":[83],"within":[84],"it":[85],"according":[86,251],"to":[87,104,166,204,222,235,252],"density.":[90],"In":[91],"addition,":[92],"predicted":[93],"tidal":[94,102,253],"levels":[95],"compared":[97,131,210],"with":[98,132,196,276],"empirically":[100],"derived":[101],"threshold":[103],"select":[105],"appropriate":[107],"time":[113],"operation,":[115],"thereby":[116],"reflecting":[117],"historically":[118,264],"observed":[119],"tide-dependent":[120],"route":[121],"selection":[122],"in":[123,157],"path-planning":[125,135],"process.":[126],"The":[127,188],"proposed":[128],"four":[133],"benchmark":[134],"algorithms,":[136],"namely":[137],"A*":[139],"graph-search":[140],"algorithm,":[141],"(PRM),":[145],"Rapidly-exploring":[147],"Random":[148],"Tree":[149],"(RRT),":[150],"its":[152,217,274],"asymptotically":[153],"optimal":[154],"variant":[155],"RRT*,":[156],"terms":[158],"length,":[161],"search":[162],"time,":[163],"similarity":[165,171,203],"actual":[167,205],"trajectories.":[169],"Trajectory":[170],"assessed":[173],"using":[174],"Modified":[175],"Hausdorff":[176],"Distance":[177],"(MHD),":[178],"Dynamic":[179],"Time":[180],"Warping":[181],"(DTW),":[182],"Longest":[184],"Common":[185],"Subsequence":[186],"(LCSS).":[187],"results":[189],"showed":[190],"that":[191,259],"EPRM":[193],"paths":[195,234],"small":[197],"run-to-run":[198],"variability":[199],"highest":[202],"trajectories":[207],"among":[208],"algorithms":[211],"under":[212],"conditions,":[215],"although":[216],"computational":[218],"advantage":[219],"limited":[221],"path-query":[224],"phase":[225],"once":[226],"roadmap":[228],"had":[229],"been":[230],"constructed.":[231],"Moreover,":[232],"different":[233],"same":[237],"destination":[238],"as":[241],"normal":[243],"detour":[245],"spaces":[248],"selected":[250],"conditions.":[254],"It":[255],"should":[256],"be":[257],"noted":[258],"AIS-derived":[261],"represents":[263],"used":[265],"rather":[267],"than":[268],"verified":[270],"safe-navigation":[271],"area,":[272],"integration":[275],"bathymetric":[277],"under-keel":[279],"clearance":[280],"information":[281],"is":[282],"required":[283],"operational":[285],"use.":[286]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-10T00:00:00"}