{"id":"https://openalex.org/W4281253678","doi":"https://doi.org/10.55417/fr.2022022","title":"A Domain-Based and Reactive COLAV Method with a Partially COLREGs-Compliant Domain for ASVs Operating in Confined Waters","display_name":"A Domain-Based and Reactive COLAV Method with a Partially COLREGs-Compliant Domain for ASVs Operating in Confined Waters","publication_year":2022,"publication_date":"2022-05-01","ids":{"openalex":"https://openalex.org/W4281253678","doi":"https://doi.org/10.55417/fr.2022022"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022022","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022022","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022022","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089552749","display_name":"Emil H. Thyri","orcid":"https://orcid.org/0000-0002-7635-8055"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Emil Hjelseth Thyri","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-7635-8055","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056645491","display_name":"Morten Breivik","orcid":"https://orcid.org/0000-0002-0457-1850"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Morten Breivik","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-0457-1850","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":1.091,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.7247341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2","issue":null,"first_page":"637","last_page":"677"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9965999722480774,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9965999722480774,"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/T11694","display_name":"Fluid Dynamics Simulations and Interactions","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9911999702453613,"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/domain","display_name":"Domain (mathematical analysis)","score":0.6866506338119507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578055024147034},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.5018837451934814},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4490271508693695},{"id":"https://openalex.org/keywords/time-domain","display_name":"Time domain","score":0.4291134774684906},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.41908296942710876},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41788381338119507},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41246938705444336},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.197486013174057},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17984458804130554},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1793968677520752},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.14770647883415222},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1027698814868927}],"concepts":[{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.6866506338119507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578055024147034},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.5018837451934814},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4490271508693695},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.4291134774684906},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.41908296942710876},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41788381338119507},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41246938705444336},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.197486013174057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17984458804130554},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1793968677520752},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.14770647883415222},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1027698814868927},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2022022","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022022","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.55417/fr.2022022","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022022","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.6700000166893005,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4360903416","https://openalex.org/W229441251","https://openalex.org/W2173510829","https://openalex.org/W4387266582","https://openalex.org/W2044304292","https://openalex.org/W2110008888","https://openalex.org/W74278805","https://openalex.org/W2767352157","https://openalex.org/W2152039389","https://openalex.org/W2388003591"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"a":[3,20,33,54,75,122,183,212,228],"collision":[4],"avoidance":[5],"(COLAV)":[6],"method":[7,36,210,238],"for":[8,101,132,152],"autonomous":[9],"surface":[10],"vessels":[11,125],"operating":[12],"in":[13,118,182],"confined":[14],"waters":[15],"with":[16,64,220,227,241],"other":[17],"vessels,":[18,223],"using":[19],"novel":[21,198],"target":[22,153,232],"ship":[23],"(TS)":[24],"domain.":[25,172],"The":[26,173,192,208,235],"domain":[27,48,76,84,90,200],"is":[28,57,77,95,106,127,214],"implemented":[29],"as":[30,179,211],"part":[31],"of":[32,41,53,114,175,196],"reactive":[34],"COLAV":[35,209,237],"pipeline":[37],"through":[38,203,216],"the":[39,61,67,80,83,89,92,102,112,165,187,197],"use":[40],"control":[42],"barrier":[43],"functions":[44],"(CBFs)":[45],"to":[46,59,66,79,120,139,167],"avoid":[47],"violation.":[49],"A":[50],"geometric":[51],"interpretation":[52],"vesselto-vessel":[55],"encounter":[56,62],"used":[58],"classify":[60],"type":[63],"respect":[65],"COLREGs,":[68],"and":[69,108,130,146,155,168,194,224,230],"thereby":[70],"which":[71],"rules":[72],"apply.":[73],"Subsequently,":[74],"assigned":[78,138],"TS,":[81],"where":[82,98],"parameters":[85],"are":[86,137,158,161,177,201],"rule-specific.":[87],"In":[88],"design,":[91],"static":[93,140,156],"environment":[94],"also":[96],"considered,":[97],"an":[99,204],"estimate":[100],"available":[103],"maneuverable":[104],"space":[105],"calculated":[107],"applied":[109,178],"when":[110],"determining":[111],"size":[113],"each":[115,133,171],"TS":[116,199],"domain,":[117],"order":[119],"achieve":[121],"distance":[123],"between":[124],"that":[126],"both":[128,217],"safe":[129],"feasible":[131],"encounter.":[134],"Additionally,":[135],"domains":[136,151],"obstacles":[141,157],"based":[142,163],"on":[143,164],"map":[144],"data":[145],"lidar":[147],"data.":[148],"Once":[149],"all":[150],"ships":[154],"determined,":[159],"CBFs":[160,176],"formulated":[162],"range":[166],"velocity":[169],"towards":[170],"set":[174],"inequality":[180],"constraints":[181],"quadratic":[184],"program":[185],"minimizing":[186],"vessel\u2019s":[188],"thrust":[189],"allocation":[190],"error.":[191],"efficiency":[193],"completeness":[195],"demonstrated":[202,215],"extensive":[205],"simulation":[206],"study.":[207],"whole":[213],"complex":[218],"simulations":[219],"multiple":[221],"maneuvering":[222],"full-scale":[225],"experiments":[226],"radar-":[229],"lidar-based":[231],"tracking":[233],"system.":[234],"proposed":[236],"shows":[239],"compliance":[240],"COLREGs":[242],"section":[243],"II.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}
