{"id":"https://openalex.org/W3094040002","doi":"https://doi.org/10.1109/tits.2020.3029279","title":"Efficient COLREG-Compliant Collision Avoidance in Multi-Ship Encounter Situations","display_name":"Efficient COLREG-Compliant Collision Avoidance in Multi-Ship Encounter Situations","publication_year":2020,"publication_date":"2020-10-21","ids":{"openalex":"https://openalex.org/W3094040002","doi":"https://doi.org/10.1109/tits.2020.3029279","mag":"3094040002"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2020.3029279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3029279","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","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/A5053324771","display_name":"Yonghoon Cho","orcid":"https://orcid.org/0000-0002-4826-9899"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghoon Cho","raw_affiliation_strings":["Department of Mechanical Engineering, Mobile Robotics and Intelligence Laboratory (MORIN), Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","[Mobile Robotics and Intelligence Laboratory (MORIN), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea.]"],"raw_orcid":"https://orcid.org/0000-0002-4826-9899","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Mobile Robotics and Intelligence Laboratory (MORIN), Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Mobile Robotics and Intelligence Laboratory (MORIN), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea.]","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016798323","display_name":"Jungwook Han","orcid":"https://orcid.org/0000-0001-5999-3201"},"institutions":[{"id":"https://openalex.org/I2799279853","display_name":"Korea Maritime Institute","ror":"https://ror.org/04kn6vt85","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2799279853","https://openalex.org/I4210097958"]},{"id":"https://openalex.org/I4399657955","display_name":"Korea Research Institute of Ships and Ocean Engineering","ror":"https://ror.org/0046ap498","country_code":null,"type":"funder","lineage":["https://openalex.org/I4399657955"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungwook Han","raw_affiliation_strings":["Autonomous and Intelligent Maritime Systems Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea","[Autonomous and Intelligent Maritime Systems Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon 34103, South Korea.]"],"raw_orcid":"https://orcid.org/0000-0001-5999-3201","affiliations":[{"raw_affiliation_string":"Autonomous and Intelligent Maritime Systems Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon, South Korea","institution_ids":["https://openalex.org/I2799279853","https://openalex.org/I4399657955"]},{"raw_affiliation_string":"[Autonomous and Intelligent Maritime Systems Research Division, Korea Research Institute of Ships and Ocean Engineering (KRISO), Daejeon 34103, South Korea.]","institution_ids":["https://openalex.org/I2799279853","https://openalex.org/I4399657955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054727482","display_name":"Jinwhan Kim","orcid":"https://orcid.org/0000-0001-6886-2449"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Mobile Robotics and Intelligence Laboratory (MORIN), Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","[Mobile Robotics and Intelligence Laboratory (MORIN), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea (e-mail: jinwhan@kaist.ac.kr)]"],"raw_orcid":"https://orcid.org/0000-0001-6886-2449","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Mobile Robotics and Intelligence Laboratory (MORIN), Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Mobile Robotics and Intelligence Laboratory (MORIN), Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon 34141, South Korea (e-mail: jinwhan@kaist.ac.kr)]","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.144,"has_fulltext":false,"cited_by_count":137,"citation_normalized_percentile":{"value":0.98905088,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"23","issue":"3","first_page":"1899","last_page":"1911"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9725000262260437,"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"}},{"id":"https://openalex.org/T12985","display_name":"Maritime Security and History","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.9229904413223267},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7189255952835083},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6338979601860046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5340399146080017},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5281041860580444},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5075794458389282},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.49657589197158813},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.41160136461257935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.364322692155838},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35178589820861816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22224420309066772},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.15409260988235474},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11537858843803406}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9229904413223267},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7189255952835083},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6338979601860046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5340399146080017},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5281041860580444},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5075794458389282},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.49657589197158813},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.41160136461257935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.364322692155838},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35178589820861816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22224420309066772},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.15409260988235474},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11537858843803406},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2020.3029279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2020.3029279","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322011","display_name":"Ministry of Oceans and Fisheries","ror":"https://ror.org/00c5s4a53"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W123705946","https://openalex.org/W1756030129","https://openalex.org/W1891298814","https://openalex.org/W1970945972","https://openalex.org/W1978351190","https://openalex.org/W2002440441","https://openalex.org/W2008489728","https://openalex.org/W2057373538","https://openalex.org/W2072389281","https://openalex.org/W2074547849","https://openalex.org/W2094941760","https://openalex.org/W2103011228","https://openalex.org/W2127617835","https://openalex.org/W2130641694","https://openalex.org/W2237975343","https://openalex.org/W2335760577","https://openalex.org/W2484617215","https://openalex.org/W2492811885","https://openalex.org/W2502855610","https://openalex.org/W2553037444","https://openalex.org/W2563899618","https://openalex.org/W2603458713","https://openalex.org/W2790472381","https://openalex.org/W2801050201","https://openalex.org/W2804949489","https://openalex.org/W2905254976","https://openalex.org/W2905402846","https://openalex.org/W2909959402","https://openalex.org/W2922120529","https://openalex.org/W2935623401","https://openalex.org/W2937331235","https://openalex.org/W2940080152","https://openalex.org/W2980687958","https://openalex.org/W2990171823","https://openalex.org/W3001138495","https://openalex.org/W6724898120"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W4391249562","https://openalex.org/W2321940404","https://openalex.org/W2022120107","https://openalex.org/W2473759166"],"abstract_inverted_index":{"Ship":[0],"collisions":[1],"are":[2,36,168],"major":[3],"types":[4],"of":[5,13,34,110,157],"maritime":[6,58,76,130],"accidents":[7],"which":[8,69],"may":[9],"involve":[10],"the":[11,21,67,128,141,152,158,166],"loss":[12],"life":[14],"and":[15,20,133,150,154,165],"significant":[16],"damage":[17],"to":[18,39,74,97,104,115],"property":[19],"environment.":[22],"Although":[23],"many":[24],"automatic":[25,86],"ship":[26,87,100],"collision":[27,52,88,136],"avoidance":[28,53,89,137],"algorithms":[29,68],"have":[30,61],"been":[31,63],"suggested,":[32],"most":[33],"them":[35],"only":[37,96],"applicable":[38],"a":[40,84,120],"single":[41,98],"ship-to-ship":[42],"encounter":[43,106],"situation.":[44],"Also,":[45],"although":[46],"there":[47],"exist":[48],"some":[49],"studies":[50],"on":[51,140],"for":[54],"multiple":[55],"agent":[56],"systems,":[57],"traffic":[59,77,131],"rules":[60],"not":[62,95],"systematically":[64],"incorporated":[65],"in":[66,170],"limit":[70],"their":[71],"practical":[72,155],"applicability":[73],"real":[75],"situations.":[78],"In":[79,113],"this":[80,171],"study,":[81],"we":[82],"propose":[83],"rule-compliant":[85],"method":[90,145],"that":[91],"can":[92],"be":[93],"applied":[94],"ship-to":[99],"situations,":[101],"but":[102],"also":[103],"multiple-ship":[105],"situations":[107],"with":[108],"consideration":[109],"prediction":[111],"uncertainty.":[112],"order":[114],"select":[116],"appropriate":[117],"evasive":[118],"actions,":[119],"symmetric":[121],"role-classification":[122],"criterion":[123],"is":[124,146],"proposed":[125,159],"by":[126],"refining":[127],"current":[129],"rules,":[132],"an":[134],"efficient":[135],"algorithm":[138],"based":[139],"probabilistic":[142],"velocity":[143],"obstacle":[144],"applied.":[147],"To":[148],"verify":[149],"demonstrate":[151],"performance":[153],"utility":[156],"algorithm,":[160],"Monte-Carlo":[161],"simulations":[162],"were":[163],"conducted":[164],"results":[167],"presented":[169],"article.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":35},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":8}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}