{"id":"https://openalex.org/W3014059403","doi":"https://doi.org/10.1109/rcar47638.2019.9043997","title":"Collision Avoidance for Autonomous Sailboats Based on RRS Protocol","display_name":"Collision Avoidance for Autonomous Sailboats Based on RRS Protocol","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W3014059403","doi":"https://doi.org/10.1109/rcar47638.2019.9043997","mag":"3014059403"},"language":"en","primary_location":{"id":"doi:10.1109/rcar47638.2019.9043997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9043997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"article","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/A5102722250","display_name":"Weimin Qi","orcid":"https://orcid.org/0000-0002-6899-3657"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weimin Qi","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022531515","display_name":"Qinbo Sun","orcid":"https://orcid.org/0000-0003-3165-1175"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinbo Sun","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084185160","display_name":"Hengli Liu","orcid":"https://orcid.org/0000-0002-7787-0384"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hengli Liu","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087628708","display_name":"Zhenglong Sun","orcid":"https://orcid.org/0000-0002-8135-1659"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenglong Sun","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076185690","display_name":"Tin Lun Lam","orcid":"https://orcid.org/0000-0002-6363-1446"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tin Lun Lam","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044361827","display_name":"Huihuan Qian","orcid":"https://orcid.org/0000-0001-8269-0882"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huihuan Qian","raw_affiliation_strings":["The Chinese University of Hong Kong, Shenzhen"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong, Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102722250"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.4279,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.67311441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"13","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9850999712944031,"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/T12126","display_name":"Maritime Transport Emissions and Efficiency","score":0.9711999893188477,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8658394813537598},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7817175388336182},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.52580326795578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5026633739471436},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.43611329793930054},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4038969874382019},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35243749618530273},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.25494349002838135},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14493441581726074}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8658394813537598},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7817175388336182},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.52580326795578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5026633739471436},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.43611329793930054},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4038969874382019},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35243749618530273},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.25494349002838135},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14493441581726074}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar47638.2019.9043997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar47638.2019.9043997","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W159547013","https://openalex.org/W2056862136","https://openalex.org/W2074547849","https://openalex.org/W2141347525","https://openalex.org/W2167052694","https://openalex.org/W2210962511","https://openalex.org/W2531349847","https://openalex.org/W2790909344","https://openalex.org/W2804949489","https://openalex.org/W2894493166","https://openalex.org/W2905431944","https://openalex.org/W4240906352","https://openalex.org/W6751614355"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Autonomous":[0],"sailboat":[1],"as":[2],"an":[3,13,31],"energy":[4],"saving":[5],"robotic":[6],"vessel":[7],"driven":[8],"by":[9],"wind,":[10],"is":[11,89,106,114],"becoming":[12],"emerging":[14],"trend":[15],"in":[16,126],"ocean":[17],"sampling,":[18],"surveillance":[19],"and":[20,68,79,116,124,134],"management.":[21],"Hereby,":[22],"collision":[23,49,82,94,111,138],"avoidance":[24,50,112,139],"for":[25,51,140],"autonomous":[26,52,73,104,141],"sailboats":[27,53,74,105],"appears":[28],"to":[29,35,46,77,92],"be":[30],"insurmountable":[32],"problem":[33],"due":[34],"its":[36],"restricted":[37],"manoeuvrability.":[38],"In":[39],"this":[40],"study,":[41],"we":[42],"propose":[43],"a":[44],"method":[45,121],"realize":[47],"the":[48,55,62,66,72,81,85,93,97],"under":[54],"Racing":[56],"Rule":[57],"of":[58,71,100,103],"Sailing":[59],"(RRS).":[60],"Using":[61],"safety":[63],"circles":[64],"concept,":[65],"speed":[67],"heading":[69],"information":[70],"are":[75],"used":[76],"predict":[78],"determine":[80],"risk.":[83],"Then":[84],"correct":[86],"RRS":[87],"rule":[88],"matched":[90],"according":[91],"situation":[95],"when":[96],"Closest":[98],"Point":[99],"Approach":[101],"(CPA)":[102],"less":[107],"than":[108],"zero.":[109],"And":[110],"response":[113],"planned":[115],"implemented":[117,123],"accordingly.":[118],"The":[119],"proposed":[120],"was":[122],"verified":[125],"experiments.":[127],"Four":[128],"different":[129],"sailing":[130],"cases":[131],"were":[132],"discussed":[133],"demonstrated":[135],"with":[136],"successful":[137],"sailboats.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}