{"id":"https://openalex.org/W4415179653","doi":"https://doi.org/10.23919/ecc65951.2025.11187274","title":"Optimal Coordination of Autonomous Tugboats for Manoeuvring Ships","display_name":"Optimal Coordination of Autonomous Tugboats for Manoeuvring Ships","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4415179653","doi":"https://doi.org/10.23919/ecc65951.2025.11187274"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187274","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5113489331","display_name":"J. R. Busse","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jan-Niklas Busse","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT),Digital Process Engineering Group, Mechanical Process Engineering and Mechanics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),Digital Process Engineering Group, Mechanical Process Engineering and Mechanics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030213338","display_name":"S\u00f6nke Bartels","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S\u00f6nke Bartels","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT),Digital Process Engineering Group, Mechanical Process Engineering and Mechanics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),Digital Process Engineering Group, Mechanical Process Engineering and Mechanics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002069913","display_name":"Thomas Meurer","orcid":"https://orcid.org/0000-0002-9175-2157"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Meurer","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT),Digital Process Engineering Group, Mechanical Process Engineering and Mechanics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),Digital Process Engineering Group, Mechanical Process Engineering and Mechanics,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113489331"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40064793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3165","last_page":"3170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.95660001039505,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12042","display_name":"Satellite Communication Systems","score":0.9218000173568726,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/underactuation","display_name":"Underactuation","score":0.7218999862670898},{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.6061000227928162},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47620001435279846},{"id":"https://openalex.org/keywords/crew","display_name":"Crew","score":0.38999998569488525},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.3452000021934509},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3400000035762787},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.3319999873638153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3257000148296356},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.32019999623298645}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7218999862670898},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.6061000227928162},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47620001435279846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4503999948501587},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.430400013923645},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41909998655319214},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4018999934196472},{"id":"https://openalex.org/C2780179797","wikidata":"https://www.wikidata.org/wiki/Q345844","display_name":"Crew","level":2,"score":0.38999998569488525},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.3452000021934509},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3257000148296356},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.30469998717308044},{"id":"https://openalex.org/C78045399","wikidata":"https://www.wikidata.org/wiki/Q11214","display_name":"Differential equation","level":2,"score":0.3028999865055084},{"id":"https://openalex.org/C76969082","wikidata":"https://www.wikidata.org/wiki/Q486902","display_name":"Mathematical model","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C51544822","wikidata":"https://www.wikidata.org/wiki/Q465274","display_name":"Ordinary differential equation","level":3,"score":0.2906999886035919},{"id":"https://openalex.org/C37423430","wikidata":"https://www.wikidata.org/wiki/Q6750281","display_name":"Hull","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C2776392105","wikidata":"https://www.wikidata.org/wiki/Q875744","display_name":"Euler\u2013Lagrange equation","level":3,"score":0.2818000018596649},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C127349201","wikidata":"https://www.wikidata.org/wiki/Q753445","display_name":"Numerical integration","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2587999999523163},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C48753275","wikidata":"https://www.wikidata.org/wiki/Q11216","display_name":"Numerical analysis","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187274","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W130364663","https://openalex.org/W1584552061","https://openalex.org/W1597944220","https://openalex.org/W1986052639","https://openalex.org/W2005788957","https://openalex.org/W2095555102","https://openalex.org/W2123871098","https://openalex.org/W2344719069","https://openalex.org/W2492811885","https://openalex.org/W2610914687","https://openalex.org/W2842089854","https://openalex.org/W2979516857","https://openalex.org/W2990216432","https://openalex.org/W2997554459","https://openalex.org/W3083806813","https://openalex.org/W3128019105","https://openalex.org/W3152529614","https://openalex.org/W3152787885","https://openalex.org/W3174131305","https://openalex.org/W4214850513","https://openalex.org/W4309341013","https://openalex.org/W4312711796","https://openalex.org/W4388915347"],"related_works":[],"abstract_inverted_index":{"Tugboats":[0],"are":[1,81,95],"deployed":[2],"to":[3,33,37],"support":[4],"underactuated":[5],"vessels,":[6],"such":[7],"as":[8,85],"container":[9],"ships":[10],"or":[11],"unactuated":[12],"offshore":[13],"platforms":[14],"during":[15],"a":[16,23,58,64,99,113,127,138,157],"manoeuvre.":[17],"This":[18],"requires":[19],"precise":[20],"manoeuvring":[21],"and":[22,36,78,83,159],"high":[24],"degree":[25],"of":[26,41,91,105,112,130,142],"coordination":[27],"between":[28],"the":[29,39,47,92,103,110],"individual":[30,93],"vessels":[31,94],"involved":[32],"avoid":[34],"collisions":[35],"ensure":[38],"safety":[40],"crew":[42],"members.":[43],"Based":[44,146],"on":[45,147],"this,":[46],"interest":[48],"in":[49,63,109],"automating":[50],"tugboats":[51,62],"has":[52],"increased.":[53],"Therefore,":[54],"this":[55,74,121,148],"paper":[56],"proposes":[57],"method":[59],"for":[60,156],"coordinating":[61],"multi-vessel":[65],"compound":[66],"system,":[67],"together":[68],"with":[69],"subsequent":[70],"manoeuvre":[71],"planning.":[72],"To":[73],"end,":[75],"direct":[76],"contact":[77],"tow":[79],"ropes":[80],"considered":[82],"defined":[84,155],"motion":[86],"constraints.":[87],"The":[88],"mathematical":[89],"models":[90],"coupled":[96],"by":[97,140,167],"applying":[98],"Lagrangian":[100],"approach":[101],"from":[102],"theory":[104],"multi-body":[106],"dynamics,":[107],"resulting":[108],"structure":[111],"differential-algebraic":[114],"equation":[115],"(DAE).":[116],"Through":[117],"an":[118,150,160],"index":[119],"reduction,":[120],"DAE-system":[122],"can":[123],"be":[124],"converted":[125],"into":[126],"system":[128],"consisting":[129],"ordinary":[131],"differential":[132],"equations":[133],"(ODE)":[134],"only,":[135],"which":[136,163],"enables":[137],"solution":[139],"means":[141],"standard":[143],"numerical":[144],"solvers.":[145],"approach,":[149],"optimal":[151],"control":[152],"problem":[153],"is":[154,164],"berthing":[158],"unberthing":[161],"manoeuvre,":[162],"successfully":[165],"evaluated":[166],"simulations.":[168]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-15T00:00:00"}
