{"id":"https://openalex.org/W4416750690","doi":"https://doi.org/10.1109/iros60139.2025.11247574","title":"Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels","display_name":"Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750690","doi":"https://doi.org/10.1109/iros60139.2025.11247574"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028456008","display_name":"Alejandro Gonz\u00e1lez-Garc\u00eda","orcid":"https://orcid.org/0000-0001-5575-0843"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Alejandro Gonzalez-Garcia","raw_affiliation_strings":["KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058590941","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0001-9622-6415"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["College of Engineering, University of Wisconsin-Madison,Marine Robotics Lab,Department of Mechanical Engineering,Madison,WI,USA,53706"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, University of Wisconsin-Madison,Marine Robotics Lab,Department of Mechanical Engineering,Madison,WI,USA,53706","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021586817","display_name":"Alejandro Astudillo","orcid":"https://orcid.org/0000-0002-6791-3475"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Alejandro Astudillo","raw_affiliation_strings":["KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009275320","display_name":"Wilm Decr\u00e9","orcid":"https://orcid.org/0000-0002-9724-8103"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Wilm Decr\u00e9","raw_affiliation_strings":["KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Belgium and With Flanders Make@KU,MECO Research Team,Department of Mechanical Engineering,Leuven,Belgium","institution_ids":["https://openalex.org/I4210116480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103326255","display_name":"Carlo Ratti","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlo Ratti","raw_affiliation_strings":["Massachusetts Institute of Technology,SENSEable City Laboratory,Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,SENSEable City Laboratory,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109457978","display_name":"Daniela Rus","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Computer Science and Artificial Intelligence Lab (CSAIL),Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5291","last_page":"5298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9492999911308289,"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"}},"topics":[{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9492999911308289,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.015200000256299973,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.009700000286102295,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/motion-planning","display_name":"Motion planning","score":0.6396999955177307},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6360999941825867},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6093999743461609},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5583000183105469},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5540000200271606},{"id":"https://openalex.org/keywords/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.5066999793052673},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48500001430511475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4749999940395355}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6396999955177307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6360999941825867},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6093999743461609},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5583000183105469},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5540000200271606},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.5066999793052673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5024999976158142},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48500001430511475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4749999940395355},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4551999866962433},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4146000146865845},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.41440001130104065},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.36320000886917114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35989999771118164},{"id":"https://openalex.org/C200941418","wikidata":"https://www.wikidata.org/wiki/Q273508","display_name":"Inflation (cosmology)","level":2,"score":0.3547999858856201},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3391000032424927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.31150001287460327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2989000082015991},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28380000591278076},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.2655999958515167}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1980569135","https://openalex.org/W2013439434","https://openalex.org/W2747333411","https://openalex.org/W2889738019","https://openalex.org/W2907106190","https://openalex.org/W2921886648","https://openalex.org/W2925144242","https://openalex.org/W2944574767","https://openalex.org/W3120751446","https://openalex.org/W3128019105","https://openalex.org/W3129245057","https://openalex.org/W3135933983","https://openalex.org/W3195647294","https://openalex.org/W4285102513","https://openalex.org/W4285102592","https://openalex.org/W4285163488","https://openalex.org/W4307900237","https://openalex.org/W4383109344","https://openalex.org/W4385461182","https://openalex.org/W4388917978","https://openalex.org/W4389666980","https://openalex.org/W4395700058","https://openalex.org/W4401415396","https://openalex.org/W4403902863","https://openalex.org/W4405022272"],"related_works":[],"abstract_inverted_index":{"Safe":[0],"motion":[1,20,35,97],"planning":[2,21,36],"is":[3,60],"essential":[4],"for":[5],"autonomous":[6,123],"vessel":[7,71,125],"operations,":[8],"especially":[9],"in":[10,131],"challenging":[11],"spaces":[12,130],"such":[13],"as":[14],"narrow":[15,129],"inland":[16],"waterways.":[17],"However,":[18],"conventional":[19],"approaches":[22],"are":[23],"often":[24],"computationally":[25],"intensive":[26],"or":[27],"overly":[28],"conservative.":[29],"This":[30],"paper":[31],"proposes":[32],"a":[33,50],"safe":[34],"strategy":[37,119],"combining":[38],"Model":[39],"Predictive":[40],"Control":[41,44],"(MPC)":[42],"and":[43,67,72,99,112,134],"Barrier":[45],"Functions":[46],"(CBFs).":[47],"We":[48],"introduce":[49],"time-varying":[51],"inflated":[52],"ellipse":[53],"obstacle":[54,89],"representation,":[55],"where":[56],"the":[57,64,70,73,80,83,103,107,117,121],"inflation":[58,78,109],"radius":[59],"adjusted":[61],"depending":[62],"on":[63],"relative":[65],"position":[66],"attitude":[68],"between":[69],"obstacle.":[74],"The":[75,91],"proposed":[76,118],"adaptive":[77],"reduces":[79],"conservativeness":[81],"of":[82],"controller":[84],"compared":[85],"to":[86,126],"traditional":[87],"fixed-ellipsoid":[88],"formulations.":[90],"MPC":[92],"solution":[93],"provides":[94],"an":[95],"approximate":[96],"plan,":[98],"high-order":[100],"CBFs":[101],"ensure":[102],"vessel\u2019s":[104],"safety":[105],"using":[106],"varying":[108],"radius.":[110],"Simulation":[111],"real-world":[113],"experiments":[114],"demonstrate":[115],"that":[116],"enables":[120],"fully-actuated":[122],"robot":[124],"navigate":[127],"through":[128],"real":[132],"time":[133],"resolve":[135],"potential":[136],"deadlocks,":[137],"all":[138],"while":[139],"ensuring":[140],"safety.":[141]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}