{"id":"https://openalex.org/W4415482341","doi":"https://doi.org/10.1109/tcst.2025.3619554","title":"A Decentralized Negotiation Protocol for Collaborative Collision Avoidance of Autonomous Surface Vehicles","display_name":"A Decentralized Negotiation Protocol for Collaborative Collision Avoidance of Autonomous Surface Vehicles","publication_year":2025,"publication_date":"2025-10-23","ids":{"openalex":"https://openalex.org/W4415482341","doi":"https://doi.org/10.1109/tcst.2025.3619554"},"language":null,"primary_location":{"id":"doi:10.1109/tcst.2025.3619554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3619554","pdf_url":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072058999","display_name":"Melih Akda\u011f","orcid":"https://orcid.org/0000-0002-6879-1799"},"institutions":[{"id":"https://openalex.org/I188703460","display_name":"DNV (Norway)","ror":"https://ror.org/04c235406","country_code":"NO","type":"company","lineage":["https://openalex.org/I188703460"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Melih Akda\u011f","raw_affiliation_strings":["Det Norske Veritas (DNV), H&#xF8;vik, Norway"],"raw_orcid":"https://orcid.org/0000-0002-6879-1799","affiliations":[{"raw_affiliation_string":"Det Norske Veritas (DNV), H&#xF8;vik, Norway","institution_ids":["https://openalex.org/I188703460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063544628","display_name":"Tran Hoang Anh","orcid":"https://orcid.org/0000-0001-6573-0301"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Hoang Anh Tran","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-6573-0301","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074628332","display_name":"Nikolai Lauv\u00e5s","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Nikolai Lauv\u00e5s","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":"https://orcid.org/0009-0000-5481-6089","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011054801","display_name":"Tom Arne Pedersen","orcid":"https://orcid.org/0000-0002-5533-9517"},"institutions":[{"id":"https://openalex.org/I188703460","display_name":"DNV (Norway)","ror":"https://ror.org/04c235406","country_code":"NO","type":"company","lineage":["https://openalex.org/I188703460"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Tom Arne Pedersen","raw_affiliation_strings":["Det Norske Veritas (DNV), H&#xF8;vik, Norway"],"raw_orcid":"https://orcid.org/0000-0002-5533-9517","affiliations":[{"raw_affiliation_string":"Det Norske Veritas (DNV), H&#xF8;vik, Norway","institution_ids":["https://openalex.org/I188703460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085832924","display_name":"Thor I. Fossen","orcid":"https://orcid.org/0000-0003-0911-7021"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Thor Inge Fossen","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0003-0911-7021","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012692888","display_name":"Tor Arne Johansen","orcid":"https://orcid.org/0000-0001-9440-5989"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Tor Arne Johansen","raw_affiliation_strings":["Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-9440-5989","affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7218,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73896964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"34","issue":"2","first_page":"1016","last_page":"1022"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9819999933242798,"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":0.9819999933242798,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9383999705314636,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9359999895095825,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8288000226020813},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.7166000008583069},{"id":"https://openalex.org/keywords/negotiation","display_name":"Negotiation","score":0.5684000253677368},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.542900025844574},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.47369998693466187},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.4496000111103058},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4124999940395355}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8288000226020813},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.7166000008583069},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6492000222206116},{"id":"https://openalex.org/C199776023","wikidata":"https://www.wikidata.org/wiki/Q202875","display_name":"Negotiation","level":2,"score":0.5684000253677368},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.542900025844574},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5206000208854675},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.47369998693466187},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.4496000111103058},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4124999940395355},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3986000120639801},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.39570000767707825},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.3725000023841858},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.35030001401901245},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2824000120162964},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2025.3619554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2025.3619554","pdf_url":null,"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":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1482764420","display_name":null,"funder_award_id":"309230","funder_id":"https://openalex.org/F4320322887","funder_display_name":"The Research Council"}],"funders":[{"id":"https://openalex.org/F4320322887","display_name":"The Research Council","ror":"https://ror.org/03tcppy59"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"study":[1],"proposes":[2],"a":[3,46,55],"decentralized":[4,39],"many-to-many":[5],"negotiation":[6,87],"protocol":[7,18,80,88],"for":[8],"collaborative":[9],"collision":[10,24,95],"avoidance":[11,25,96],"of":[12,71,100],"autonomous":[13],"surface":[14],"vehicles":[15,21],"(ASVs).":[16],"The":[17,85],"enables":[19],"heterogeneous":[20],"with":[22,91,108],"different":[23,93],"algorithms":[26],"to":[27],"negotiate":[28],"in":[29],"the":[30,41,69,77,101],"same":[31],"framework":[32],"using":[33,54,76],"asynchronous":[34],"communication.":[35],"To":[36],"achieve":[37],"fully":[38],"decision-making,":[40],"problem":[42,50],"is":[43,89],"modeled":[44],"as":[45],"distributed":[47,56],"constraint":[48],"optimization":[49],"(DCOP)":[51],"and":[52,73,82,105,110],"solved":[53],"stochastic":[57],"search":[58],"algorithm":[59],"(DSSA).":[60],"Additionally,":[61],"each":[62],"vehicle":[63],"adjusts":[64],"its":[65],"decision":[66],"variables":[67],"within":[68],"range":[70],"egocentric":[72],"altruistic":[74],"behaviors":[75],"monotonic":[78],"concession":[79],"(MCP)":[81],"fuzzy":[83],"logic.":[84],"proposed":[86],"tested":[90],"two":[92],"reactive":[94],"algorithms,":[97],"considering":[98],"some":[99],"navigational":[102],"rules":[103],"(COLREG),":[104],"verified":[106],"both":[107],"simulation":[109],"field":[111],"experiments.":[112]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-02-27T06:17:20.405678","created_date":"2025-10-23T00:00:00"}
