{"id":"https://openalex.org/W2956855593","doi":"https://doi.org/10.23919/ecc.2019.8796071","title":"Optimal Maneuvering and Control of Cooperative Vehicles as Case Study for Maritime Applications within Harbors","display_name":"Optimal Maneuvering and Control of Cooperative Vehicles as Case Study for Maritime Applications within Harbors","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2956855593","doi":"https://doi.org/10.23919/ecc.2019.8796071","mag":"2956855593"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2019.8796071","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","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/A5011707945","display_name":"Ren\u00e9 Zweigel","orcid":"https://orcid.org/0000-0003-2440-2138"},"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":"R. Zweigel","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011355132","display_name":"Jan-J\u00f6ran Gehrt","orcid":"https://orcid.org/0000-0003-4348-2110"},"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":"J.J. Gehrt","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089431699","display_name":"Shuchen Liu","orcid":"https://orcid.org/0000-0003-4685-491X"},"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":"S. Liu","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014017588","display_name":"S. Roy","orcid":"https://orcid.org/0000-0001-5297-6396"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Roy","raw_affiliation_strings":["Center for Industrial Mathematics, University of Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Industrial Mathematics, University of Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024184563","display_name":"Christof B\u00fcskens","orcid":"https://orcid.org/0000-0001-7385-4670"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Buskens","raw_affiliation_strings":["Center for Industrial Mathematics, University of Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Industrial Mathematics, University of Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039918588","display_name":"Martin Kurowski","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Kurowski","raw_affiliation_strings":["Institute of Automation, University of Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, University of Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002598775","display_name":"Torsten Jeinsch","orcid":"https://orcid.org/0000-0002-8287-2544"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I4665924","display_name":"University of Rostock","ror":"https://ror.org/03zdwsf69","country_code":"DE","type":"education","lineage":["https://openalex.org/I4665924"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Jeinsch","raw_affiliation_strings":["Institute of Automation, University of Rostock, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, University of Rostock, Germany","institution_ids":["https://openalex.org/I4665924","https://openalex.org/I4210157642"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066046008","display_name":"A. Schubert","orcid":null},"institutions":[{"id":"https://openalex.org/I162015237","display_name":"Wismar University of Applied Sciences","ror":"https://ror.org/00s1ckt27","country_code":"DE","type":"education","lineage":["https://openalex.org/I162015237"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Schubert","raw_affiliation_strings":["Institute of Innovative Ship-Simulation and Maritime Systems, University of Applied Sciences, Wismar, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Innovative Ship-Simulation and Maritime Systems, University of Applied Sciences, Wismar, Germany","institution_ids":["https://openalex.org/I162015237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016009498","display_name":"Michael Gluch","orcid":null},"institutions":[{"id":"https://openalex.org/I162015237","display_name":"Wismar University of Applied Sciences","ror":"https://ror.org/00s1ckt27","country_code":"DE","type":"education","lineage":["https://openalex.org/I162015237"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Gluch","raw_affiliation_strings":["Institute of Innovative Ship-Simulation and Maritime Systems, University of Applied Sciences, Wismar, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Innovative Ship-Simulation and Maritime Systems, University of Applied Sciences, Wismar, Germany","institution_ids":["https://openalex.org/I162015237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007409834","display_name":"Olaf Simanski","orcid":null},"institutions":[{"id":"https://openalex.org/I162015237","display_name":"Wismar University of Applied Sciences","ror":"https://ror.org/00s1ckt27","country_code":"DE","type":"education","lineage":["https://openalex.org/I162015237"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"O. Simanski","raw_affiliation_strings":["Institute of Innovative Ship-Simulation and Maritime Systems, University of Applied Sciences, Wismar, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Innovative Ship-Simulation and Maritime Systems, University of Applied Sciences, Wismar, Germany","institution_ids":["https://openalex.org/I162015237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057810325","display_name":"E. Pairet-Garcia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"E. Pairet-Garcia","raw_affiliation_strings":["SCISYS Deutschland GmbH, Bochum, Germany"],"affiliations":[{"raw_affiliation_string":"SCISYS Deutschland GmbH, Bochum, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069169004","display_name":"Friederike Siemer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"F. Siemer","raw_affiliation_strings":["SCISYS Deutschland GmbH, Bochum, Germany"],"affiliations":[{"raw_affiliation_string":"SCISYS Deutschland GmbH, Bochum, Germany","institution_ids":[]}]},{"author_position":"last","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":"D. Abel","raw_affiliation_strings":["Institute of Automatic Control, RWTH Aachen University, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, RWTH Aachen University, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":13,"corresponding_author_ids":["https://openalex.org/A5011707945"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":1.2837,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79164128,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3022","last_page":"3027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9941999912261963,"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":0.9778000116348267,"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/rudder","display_name":"Rudder","score":0.8597102165222168},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7306676506996155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.629136860370636},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5944114923477173},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5832327604293823},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5568768978118896},{"id":"https://openalex.org/keywords/dynamic-positioning","display_name":"Dynamic positioning","score":0.48615214228630066},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4214846193790436},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4165470004081726},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4136328101158142},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3851969242095947},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3782011568546295},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3600184917449951},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27360114455223083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16276007890701294},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.13948491215705872},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10107848048210144}],"concepts":[{"id":"https://openalex.org/C183776436","wikidata":"https://www.wikidata.org/wiki/Q209760","display_name":"Rudder","level":2,"score":0.8597102165222168},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7306676506996155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.629136860370636},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5944114923477173},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5832327604293823},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5568768978118896},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.48615214228630066},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4214846193790436},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4165470004081726},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4136328101158142},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3851969242095947},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3782011568546295},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3600184917449951},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27360114455223083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16276007890701294},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.13948491215705872},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10107848048210144},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2019.8796071","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2019.8796071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 18th European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323803","display_name":"Bundesministerium f\u00fcr Wirtschaft und Energie","ror":"https://ror.org/02vgg2808"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1972864539","https://openalex.org/W2018246484","https://openalex.org/W2101485019","https://openalex.org/W2484617215","https://openalex.org/W2492811885","https://openalex.org/W2611243847","https://openalex.org/W2767180467","https://openalex.org/W2887715909","https://openalex.org/W2897832238","https://openalex.org/W2904292254","https://openalex.org/W2917326963","https://openalex.org/W3026829485","https://openalex.org/W6755636197","https://openalex.org/W6959863514"],"related_works":["https://openalex.org/W2169157686","https://openalex.org/W2605242147","https://openalex.org/W3196346419","https://openalex.org/W2386267831","https://openalex.org/W2917584747","https://openalex.org/W2332440039","https://openalex.org/W2356180634","https://openalex.org/W2575067777","https://openalex.org/W4384665641","https://openalex.org/W4312090230"],"abstract_inverted_index":{"This":[0,166],"paper":[1,167],"presents":[2,168],"the":[3,14,80,107,161,169,190],"development":[4],"of":[5,95,101,172,178],"a":[6,43,53,72,119,137,212],"networked":[7,33,90,180,206],"control":[8,139],"system":[9,164],"for":[10,88,106,118],"maritime":[11,44],"applications":[12],"within":[13],"joint":[15],"project":[16],"GALILEOnautic":[17,173],"to":[18,52,83,131,194],"enable":[19],"autonomous":[20],"shipping":[21],"and":[22,39,103,109,182,211],"optimal":[23,86,104],"maneuvering":[24],"in":[25,64],"harbor":[26],"environments.":[27],"To":[28,126,187],"achieve":[29],"this":[30],"objective,":[31],"all":[32],"vehicles":[34,149],"estimate":[35],"position,":[36],"velocity,":[37],"orientation":[38],"time":[40,102],"dynamically":[41],"using":[42,155],"navigation":[45],"filter.":[46],"These":[47,92],"vehicle":[48],"states":[49,82],"are":[50,113,204],"broadcasted":[51,159],"central":[54],"computation":[55],"unit":[56],"via":[57],"long":[58],"term":[59],"evolution":[60],"(LTE)":[61],"mobile":[62],"communication":[63],"combination":[65],"with":[66,201],"virtual":[67],"private":[68],"network":[69,146],"(VPN).":[70],"After":[71],"data":[73,156],"synchronization":[74],"step,":[75],"an":[76,175],"optimization":[77],"algorithm":[78],"uses":[79],"vessel":[81],"calculate":[84],"model-based":[85],"trajectories":[87,93],"each":[89,124],"participant.":[91,186],"consist":[94],"target":[96],"positions":[97],"at":[98],"certain":[99],"instants":[100],"settings":[105],"rudder":[108],"propulsion":[110],"units":[111],"which":[112,157],"used":[114],"as":[115,153],"feedforward":[116],"variables":[117],"local":[120],"trajectory":[121,135],"controller":[122],"on":[123],"vessel.":[125],"compensate":[127],"smaller":[128],"errors":[129],"due":[130],"model":[132],"inaccuracies":[133],"during":[134],"calculation,":[136],"feedback":[138],"loop":[140],"is":[141,158,192],"also":[142],"established.":[143],"Beside":[144],"active":[145],"participants,":[147],"other":[148],"can":[150],"be":[151],"considered":[152],"well":[154],"by":[160],"automatic":[162],"identification":[163],"(AIS).":[165],"promising":[170],"results":[171],"demonstrating":[174],"encounter":[176],"situation":[177],"two":[179],"vessels":[181],"one":[183],"disturbing,":[184],"non-networked":[185],"demonstrate":[188],"how":[189],"approach":[191],"able":[193],"avoid":[195],"critical":[196],"situations,":[197],"three":[198],"different":[199],"demonstrators":[200],"increasing":[202],"complexity":[203],"shown:":[205],"robots,":[207],"unmanned":[208],"surface":[209],"vehicles,":[210],"ship-handling":[213],"simulator.":[214]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}