{"id":"https://openalex.org/W4391305495","doi":"https://doi.org/10.1109/tcst.2024.3355014","title":"Risk-Aware Wasserstein Distributionally Robust Control of Vessels in Natural Waterways","display_name":"Risk-Aware Wasserstein Distributionally Robust Control of Vessels in Natural Waterways","publication_year":2024,"publication_date":"2024-01-29","ids":{"openalex":"https://openalex.org/W4391305495","doi":"https://doi.org/10.1109/tcst.2024.3355014"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2024.3355014","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3355014","pdf_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10415511.pdf","source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10415511.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015019490","display_name":"Juan Moreno Nadales","orcid":"https://orcid.org/0000-0003-3284-8922"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"J. M. Nadales","raw_affiliation_strings":["Department of Automation and Systems Engineering, University of Seville, Seville, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082502066","display_name":"Astghik Hakobyan","orcid":"https://orcid.org/0000-0001-8252-1966"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"A. Hakobyan","raw_affiliation_strings":["Department of Electrical and Computer Engineering, ASRI, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051750991","display_name":"David Mu\u00f1oz de la Pe\u00f1a","orcid":"https://orcid.org/0000-0002-6696-8490"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"D. Mu\u00f1oz de la Pe\u00f1a","raw_affiliation_strings":["Department of Automation and Systems Engineering, University of Seville, Seville, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068334157","display_name":"Daniel Lim\u00f3n","orcid":"https://orcid.org/0000-0001-9334-7289"},"institutions":[{"id":"https://openalex.org/I79238269","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24","country_code":"ES","type":"education","lineage":["https://openalex.org/I79238269"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"D. Limon","raw_affiliation_strings":["Department of Automation and Systems Engineering, University of Seville, Seville, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Automation and Systems Engineering, University of Seville, Seville, Spain","institution_ids":["https://openalex.org/I79238269"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063507594","display_name":"Insoon Yang","orcid":"https://orcid.org/0000-0001-5887-6169"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"I. Yang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, ASRI, Seoul National University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, ASRI, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015019490"],"corresponding_institution_ids":["https://openalex.org/I79238269"],"apc_list":null,"apc_paid":null,"fwci":1.7393,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81417272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"32","issue":"4","first_page":"1471","last_page":"1478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9979000091552734,"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":0.9979000091552734,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9537000060081482,"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/T12126","display_name":"Maritime Transport Emissions and Efficiency","score":0.9383000135421753,"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/ambiguity","display_name":"Ambiguity","score":0.6577941179275513},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6178635358810425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6141138076782227},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5050495266914368},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.4550153315067291},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4401776194572449},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4401489496231079},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3055148124694824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23886284232139587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19348719716072083},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13638097047805786}],"concepts":[{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.6577941179275513},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6178635358810425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6141138076782227},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5050495266914368},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.4550153315067291},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4401776194572449},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4401489496231079},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3055148124694824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23886284232139587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19348719716072083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13638097047805786},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2024.3355014","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3355014","pdf_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10415511.pdf","source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tcst.2024.3355014","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcst.2024.3355014","pdf_url":"https://ieeexplore.ieee.org/ielx7/87/4389040/10415511.pdf","source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Clean water and sanitation","id":"https://metadata.un.org/sdg/6","score":0.7799999713897705}],"awards":[{"id":"https://openalex.org/G1320060331","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1598597440","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/5011000110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1622782223","display_name":null,"funder_award_id":"MCIN/AEI/10","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G1643949827","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1815864298","display_name":null,"funder_award_id":"CIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G283248928","display_name":null,"funder_award_id":"MSIT2020R1C1C1009766","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G2969783435","display_name":null,"funder_award_id":"CIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G300623544","display_name":null,"funder_award_id":"2022-0-00124","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G300979063","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3219925899","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G335793230","display_name":null,"funder_award_id":"2020R1C1C1009766","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G3429648993","display_name":null,"funder_award_id":"PID202","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G4045093968","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G410571670","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G4126322094","display_name":null,"funder_award_id":"01100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G451917667","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G453067482","display_name":null,"funder_award_id":"014-2020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G4816244515","display_name":null,"funder_award_id":"FEDER","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G503755381","display_name":null,"funder_award_id":"2022-0-00480","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G5080475149","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5539308778","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5634946813","display_name":null,"funder_award_id":"2014-2020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5967599077","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G661330594","display_name":null,"funder_award_id":"00110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6685425346","display_name":null,"funder_award_id":"0011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6838289232","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/50110001103","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G7084143925","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7225733330","display_name":null,"funder_award_id":"2020R1C1C1009766","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7535663061","display_name":null,"funder_award_id":"AEI/10.","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7685055460","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G8260616629","display_name":null,"funder_award_id":"011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8570012161","display_name":null,"funder_award_id":"unknown","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G8638682022","display_name":null,"funder_award_id":"10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8937893370","display_name":null,"funder_award_id":"2014-2020","funder_id":"https://openalex.org/F4320337753","funder_display_name":"Interreg"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null},{"id":"https://openalex.org/F4320337753","display_name":"Interreg","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391305495.pdf","grobid_xml":"https://content.openalex.org/works/W4391305495.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1484551447","https://openalex.org/W1585160083","https://openalex.org/W1967773737","https://openalex.org/W2019291268","https://openalex.org/W2037054598","https://openalex.org/W2054338369","https://openalex.org/W2125417745","https://openalex.org/W2138447111","https://openalex.org/W2336156739","https://openalex.org/W2582119505","https://openalex.org/W2623414030","https://openalex.org/W2811001119","https://openalex.org/W2884263148","https://openalex.org/W2887782738","https://openalex.org/W2905838893","https://openalex.org/W2954988397","https://openalex.org/W2963450292","https://openalex.org/W2963732412","https://openalex.org/W2964219244","https://openalex.org/W2969442069","https://openalex.org/W2969738732","https://openalex.org/W2982915117","https://openalex.org/W2985380055","https://openalex.org/W3001311638","https://openalex.org/W3001538587","https://openalex.org/W3021487874","https://openalex.org/W3028399946","https://openalex.org/W3034324074","https://openalex.org/W3098201584","https://openalex.org/W3113190228","https://openalex.org/W3124407081","https://openalex.org/W3204061874","https://openalex.org/W4213102368","https://openalex.org/W4235623249","https://openalex.org/W4300472719","https://openalex.org/W4366169357","https://openalex.org/W4366308982","https://openalex.org/W4391305495"],"related_works":["https://openalex.org/W2353179089","https://openalex.org/W2923538289","https://openalex.org/W2353125546","https://openalex.org/W2470643824","https://openalex.org/W4400595174","https://openalex.org/W2349635380","https://openalex.org/W4353089801","https://openalex.org/W2353819554","https://openalex.org/W2359488321","https://openalex.org/W2389866386"],"abstract_inverted_index":{"In":[0],"the":[1,69,93,97,138,149,157,163,166,177,181,203,209],"realm":[2],"of":[3,74,165,192,208],"maritime":[4],"transportation,":[5],"autonomous":[6],"vessel":[7,178],"navigation":[8],"in":[9,26,77,96,112,127,156,196],"natural":[10,19],"inland":[11],"waterways":[12],"faces":[13],"persistent":[14],"challenges":[15],"due":[16],"to":[17,45,49,91,105,198],"unpredictable":[18],"factors.":[20],"Existing":[21],"scheduling":[22],"algorithms":[23,37],"fall":[24],"short":[25],"handling":[27],"these":[28,36,54],"uncertainties,":[29],"compromising":[30],"both":[31],"safety":[32],"and":[33,71,205],"efficiency.":[34],"Moreover,":[35],"are":[38,130],"primarily":[39],"designed":[40],"for":[41,64,68],"nonautonomous":[42],"vessels,":[43],"leading":[44],"labor-intensive":[46],"operations":[47],"vulnerable":[48],"human":[50],"error.":[51],"To":[52,109],"address":[53,110],"issues,":[55],"this":[56],"study":[57],"proposes":[58],"a":[59,78,83,102,115,133,144,172,175,189],"risk-aware":[60],"motion":[61],"control":[62,86],"approach":[63],"vessels":[65],"that":[66,136],"accounts":[67],"dynamic":[70],"uncertain":[72],"nature":[73],"tide":[75,113],"islands":[76],"distributionally":[79],"robust":[80],"manner.":[81],"Specifically,":[82],"model":[84],"predictive":[85],"(MPC)":[87],"method":[88,168],"is":[89],"employed":[90],"follow":[92],"reference":[94],"trajectory":[95],"time\u2013space":[98],"map":[99],"while":[100,183],"incorporating":[101],"risk":[103,134],"constraint":[104,135],"prevent":[106],"grounding":[107,185],"accidents.":[108],"uncertainties":[111],"islands,":[114],"novel":[116],"modeling":[117],"technique":[118],"represents":[119],"them":[120],"as":[121],"stochastic":[122],"polytopes.":[123],"Additionally,":[124],"potential":[125],"inaccuracies":[126],"waterway":[128,182],"depth":[129],"addressed":[131],"through":[132,169],"considers":[137],"worst":[139],"case":[140],"uncertainty":[141],"distribution":[142],"within":[143],"Wasserstein":[145],"ambiguity":[146],"set":[147],"around":[148],"empirical":[150],"distribution.":[151],"Using":[152],"sensor":[153],"data":[154],"collected":[155],"Guadalquivir":[158],"River,":[159],"we":[160],"empirically":[161],"demonstrate":[162],"performance":[164],"proposed":[167,210],"simulations":[170],"on":[171],"vessel.":[173],"As":[174],"result,":[176],"successfully":[179],"navigates":[180],"avoiding":[184],"accidents,":[186],"even":[187],"with":[188],"limited":[190],"dataset":[191],"observations.":[193],"This":[194],"stands":[195],"contrast":[197],"existing":[199],"nonrobust":[200],"controllers,":[201],"highlighting":[202],"robustness":[204],"practical":[206],"applicability":[207],"approach.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}