{"id":"https://openalex.org/W4280618792","doi":"https://doi.org/10.1515/auto-2021-0152","title":"Towards semi-autonomous operation of an over-actuated river ferry","display_name":"Towards semi-autonomous operation of an over-actuated river ferry","publication_year":2022,"publication_date":"2022-05-01","ids":{"openalex":"https://openalex.org/W4280618792","doi":"https://doi.org/10.1515/auto-2021-0152"},"language":"en","primary_location":{"id":"doi:10.1515/auto-2021-0152","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2021-0152","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","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/A5090824360","display_name":"Philipp Koschorrek","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132346","display_name":"Voith (Germany)","ror":"https://ror.org/041h6pr97","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Philipp Koschorrek","raw_affiliation_strings":["J.M. Voith SE & Co. KG | VTA , Heidenheim , Germany","J.M. Voith SE & Co. KG | VTA, 89522 Heidenheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"J.M. Voith SE & Co. KG | VTA , Heidenheim , Germany","institution_ids":["https://openalex.org/I4210132346"]},{"raw_affiliation_string":"J.M. Voith SE & Co. KG | VTA, 89522 Heidenheim, Germany","institution_ids":["https://openalex.org/I4210132346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062141158","display_name":"Martin Kosch","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Martin Kosch","raw_affiliation_strings":["Institute of Automatic Control , RWTH Aachen University , Aachen , Germany","Institute of Automatic Control, RWTH Aachen University, 52074 Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control , RWTH Aachen University , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, 52074 Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017572860","display_name":"Maximilian Nitsch","orcid":"https://orcid.org/0000-0003-4391-1552"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Nitsch","raw_affiliation_strings":["Institute of Automatic Control , RWTH Aachen University , Aachen , Germany","Institute of Automatic Control, RWTH Aachen University, 52074 Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control , RWTH Aachen University , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, 52074 Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029739081","display_name":"Dirk Abel","orcid":"https://orcid.org/0000-0003-0286-3654"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Abel","raw_affiliation_strings":["Institute of Automatic Control , RWTH Aachen University , Aachen , Germany","Institute of Automatic Control, RWTH Aachen University, 52074 Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control , RWTH Aachen University , Aachen , Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, 52074 Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020548950","display_name":"Dirk J\u00fcrgens","orcid":null},"institutions":[{"id":"https://openalex.org/I4210132346","display_name":"Voith (Germany)","ror":"https://ror.org/041h6pr97","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210132346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk J\u00fcrgens","raw_affiliation_strings":["J.M. Voith SE & Co. KG | VTA , Heidenheim , Germany","J.M. Voith SE & Co. KG | VTA, 89522 Heidenheim, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"J.M. Voith SE & Co. KG | VTA , Heidenheim , Germany","institution_ids":["https://openalex.org/I4210132346"]},{"raw_affiliation_string":"J.M. Voith SE & Co. KG | VTA, 89522 Heidenheim, Germany","institution_ids":["https://openalex.org/I4210132346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5062141158","https://openalex.org/A5090824360"],"corresponding_institution_ids":["https://openalex.org/I4210132346","https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":1.0263,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72777868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"70","issue":"5","first_page":"433","last_page":"443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9975000023841858,"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":0.9975000023841858,"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/T11604","display_name":"Ship Hydrodynamics and Maneuverability","score":0.9907000064849854,"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":0.9617000222206116,"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/automation","display_name":"Automation","score":0.8135498762130737},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7195466756820679},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6393119096755981},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6312386989593506},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5235119462013245},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.47675925493240356},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45477646589279175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4485637843608856},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.42038673162460327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4107145071029663},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4082779288291931},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.3510787785053253},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33127057552337646},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1927245855331421},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.12518027424812317},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12313532829284668}],"concepts":[{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.8135498762130737},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7195466756820679},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6393119096755981},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6312386989593506},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5235119462013245},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.47675925493240356},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45477646589279175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4485637843608856},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.42038673162460327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4107145071029663},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4082779288291931},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.3510787785053253},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33127057552337646},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1927245855331421},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.12518027424812317},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12313532829284668},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1515/auto-2021-0152","is_oa":false,"landing_page_url":"https://doi.org/10.1515/auto-2021-0152","pdf_url":null,"source":{"id":"https://openalex.org/S4210170077","display_name":"at - Automatisierungstechnik","issn_l":"0178-2312","issn":["0178-2312","2196-677X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319967","host_organization_name":"R. Oldenbourg Verlag","host_organization_lineage":["https://openalex.org/P4310319967"],"host_organization_lineage_names":["R. Oldenbourg Verlag"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"at - Automatisierungstechnik","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1484739396","https://openalex.org/W2163334725","https://openalex.org/W2492811885","https://openalex.org/W2761723451","https://openalex.org/W2765812511","https://openalex.org/W2896829032","https://openalex.org/W3096486036","https://openalex.org/W3129032277","https://openalex.org/W3143216681","https://openalex.org/W3154828560","https://openalex.org/W3209617718","https://openalex.org/W3209956141","https://openalex.org/W4205235390","https://openalex.org/W4205542880"],"related_works":["https://openalex.org/W2381850946","https://openalex.org/W4380449851","https://openalex.org/W2378383478","https://openalex.org/W2724311592","https://openalex.org/W2736986302","https://openalex.org/W3125091513","https://openalex.org/W2914953897","https://openalex.org/W4318832338","https://openalex.org/W2743782314","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Abstract":[0],"The":[1,81,134,146],"automation":[2,25,76,123],"of":[3,43,74,77,104,113,121,174,197,209],"ships":[4],"will":[5],"in":[6,26,91,207],"the":[7,35,41,47,67,72,75,87,105,114,122,127,169,191,195],"long":[8],"run":[9],"enable":[10],"new":[11],"mobility":[12],"concepts":[13],"and":[14,21,46,59,93,117,130,143,161,212],"profitable":[15],"business":[16],"models":[17],"both":[18],"for":[19,34,40],"offshore":[20],"inland":[22],"vessels.":[23],"However,":[24],"shipping":[27],"can":[28,202],"already":[29],"today":[30],"offer":[31],"significant":[32],"benefits":[33],"environment":[36],"as":[37,39,102],"well":[38],"safety":[42],"people,":[44],"infrastructure":[45],"vessel":[48,101,182],"itself.":[49],"To":[50],"gain":[51],"these":[52],"advantages,":[53],"sophisticated":[54],"sensors,":[55],"reliable":[56],"propulsion":[57,171],"systems":[58],"intelligent":[60],"algorithms":[61],"are":[62],"required.":[63],"In":[64],"this":[65],"context,":[66],"project":[68],"AKOON":[69],"is":[70,94,150],"investigating":[71],"potential":[73],"a":[78,98,153,158,180],"river":[79],"ferry.":[80],"ferry":[82],"under":[83],"investigation":[84],"operates":[85],"on":[86,126,185],"Rhine":[88],"near":[89],"Mainz":[90],"Germany":[92],"being":[95],"converted":[96],"to":[97,140,166],"fully":[99],"automated":[100],"part":[103],"research":[106],"project.":[107],"This":[108],"article":[109],"gives":[110],"an":[111,162],"overview":[112],"guidance,":[115],"navigation":[116],"control":[118],"(GNC)":[119],"modules":[120],"with":[124],"focus":[125],"trajectory":[128,131,135,148],"planning":[129,136],"tracking":[132,149],"modules.":[133],"uses":[137,157],"hybrid-state":[138],"A*":[139],"find":[141],"safe":[142],"fuel-efficient":[144],"routes.":[145],"subsequent":[147],"achieved":[151],"by":[152],"two-level":[154],"approach":[155,193],"that":[156,190,201],"state-space":[159],"controller":[160],"optimization-based":[163],"thrust":[164],"allocation":[165],"efficiently":[167],"operate":[168],"over-actuated":[170],"system":[172],"consisting":[173],"four":[175],"cycloidal":[176],"propellers.":[177],"Results":[178],"from":[179],"high-fidelity":[181],"simulator":[183],"based":[184],"state-of-the-art":[186],"hydrodynamic":[187],"simulations":[188],"show":[189],"presented":[192],"allows":[194],"generation":[196],"collision-free":[198],"reference":[199],"trajectories,":[200],"be":[203],"tracked":[204],"safely":[205],"even":[206],"cases":[208],"model":[210],"mismatches":[211],"disturbances.":[213]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}