{"id":"https://openalex.org/W4206259089","doi":"https://doi.org/10.23919/ecc54610.2021.9655091","title":"MPC-based COLREGS Compliant Collision Avoidance for a Multi-Vessel Ship-Towing System","display_name":"MPC-based COLREGS Compliant Collision Avoidance for a Multi-Vessel Ship-Towing System","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W4206259089","doi":"https://doi.org/10.23919/ecc54610.2021.9655091"},"language":"en","primary_location":{"id":"doi:10.23919/ecc54610.2021.9655091","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655091","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5083548890","display_name":"Zhe Du","orcid":"https://orcid.org/0000-0002-7645-9702"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Zhe Du","raw_affiliation_strings":["Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028313094","display_name":"Vasso Reppa","orcid":"https://orcid.org/0000-0002-8599-6016"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Vasso Reppa","raw_affiliation_strings":["Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068318450","display_name":"Rudy R. Negenborn","orcid":"https://orcid.org/0000-0001-9784-1225"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Rudy R. Negenborn","raw_affiliation_strings":["Delft University of Technology, Delft, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083548890"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":6.7842,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.9844358,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1857","last_page":"1862"},"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/T12985","display_name":"Maritime Security and History","score":0.9835000038146973,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9818999767303467,"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/towing","display_name":"Towing","score":0.9811295866966248},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.8230553865432739},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5789803862571716},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5267181992530823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4915209710597992},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47420623898506165},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44993308186531067},{"id":"https://openalex.org/keywords/collision-avoidance-system","display_name":"Collision avoidance system","score":0.4326874017715454},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4226454198360443},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39259469509124756},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3909653425216675},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3342500329017639},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33149224519729614},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.32833677530288696},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13685017824172974},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1224321722984314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0613686740398407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.060829371213912964}],"concepts":[{"id":"https://openalex.org/C23927387","wikidata":"https://www.wikidata.org/wiki/Q332030","display_name":"Towing","level":2,"score":0.9811295866966248},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8230553865432739},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5789803862571716},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5267181992530823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4915209710597992},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47420623898506165},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44993308186531067},{"id":"https://openalex.org/C2777016798","wikidata":"https://www.wikidata.org/wiki/Q2001988","display_name":"Collision avoidance system","level":4,"score":0.4326874017715454},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4226454198360443},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39259469509124756},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3909653425216675},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3342500329017639},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33149224519729614},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.32833677530288696},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13685017824172974},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1224321722984314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0613686740398407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.060829371213912964},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc54610.2021.9655091","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc54610.2021.9655091","pdf_url":null,"source":{"id":"https://openalex.org/S4363608272","display_name":"2021 European Control Conference (ECC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:tudelft.nl:uuid:db850e19-2e26-4f10-9a60-a8646fedf1ef","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:db850e19-2e26-4f10-9a60-a8646fedf1ef","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G8438130095","display_name":null,"funder_award_id":"201806950080","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G8589651859","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320321012","display_name":"Technische Universiteit Delft","ror":"https://ror.org/02e2c7k09"},{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320332054","display_name":"Researchlab Autonomous Shipping","ror":null},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320337753","display_name":"Interreg","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1527972140","https://openalex.org/W1601084487","https://openalex.org/W2056862136","https://openalex.org/W2492811885","https://openalex.org/W2530312297","https://openalex.org/W2551102538","https://openalex.org/W2589618410","https://openalex.org/W2614079548","https://openalex.org/W2801050201","https://openalex.org/W2891998162","https://openalex.org/W2901325952","https://openalex.org/W2907106190","https://openalex.org/W2945369333","https://openalex.org/W2945705778","https://openalex.org/W3152529614","https://openalex.org/W4230659150"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2022120107","https://openalex.org/W2473759166"],"abstract_inverted_index":{"Collision":[0],"avoidance":[1,31,56,167],"plays":[2],"a":[3,33,41,48,103],"vital":[4],"role":[5],"in":[6,22,50,102,118,159],"autonomous":[7],"vehicle":[8],"systems.":[9],"As":[10],"the":[11,72,89,99,110,114,119,123,128,134,138,148,165,171],"complexity":[12],"and":[13,77,81,105,116,136,155,164],"scale":[14],"of":[15,32],"missions":[16],"increase,":[17],"multi-vehicle":[18],"systems":[19],"are":[20,86],"adopted":[21],"practice.":[23],"However,":[24],"there":[25],"is":[26,58,68],"limited":[27],"research":[28],"on":[29],"collision":[30,55,142,166],"physically":[34],"interconnected":[35],"multi-vessel":[36],"system.":[37],"This":[38],"paper":[39],"proposes":[40],"control":[42,125],"scheme":[43,126],"for":[44,113],"tugboats":[45,117],"to":[46,70,97],"tow":[47],"ship":[49,90,115],"congested":[51],"port":[52],"areas":[53],"ensuring":[54],"that":[57,147],"compliant":[59],"with":[60,153,170],"COLREGS.":[61],"The":[62,83],"Model":[63],"Predictive":[64],"Control":[65],"(MPC)":[66],"strategy":[67],"used":[69],"optimize":[71],"towing":[73,75,100],"angles,":[74],"forces,":[76],"tugboats\u2019":[78],"thruster":[79],"forces":[80],"moment.":[82],"COLREGS":[84,172],"rules":[85],"integrated":[87],"into":[88],"reference":[91],"system":[92,101,130],"by":[93],"altering":[94],"predefined":[95],"waypoints":[96],"guide":[98],"safe":[104],"lawful":[106],"way.":[107],"By":[108],"designing":[109],"cost":[111],"function":[112],"MPC":[120],"controller":[121],"system,":[122],"proposed":[124,149],"makes":[127],"ship-towing":[129],"stay":[131],"away":[132],"from":[133],"obstacles":[135],"follow":[137],"calculated":[139],"waypoints,":[140],"achieving":[141],"avoidance.":[143],"Simulation":[144],"experiments":[145],"indicate":[146],"method":[150],"can":[151],"deal":[152],"static":[154],"dynamic":[156],"obstacle":[157],"situations":[158],"complex":[160],"water":[161],"traffic":[162],"environments,":[163],"operations":[168],"comply":[169],"rules.":[173]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}
