{"id":"https://openalex.org/W4391127803","doi":"https://doi.org/10.55417/fr.2024007","title":"Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-Scale Experiments in Confined Waters","display_name":"Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-Scale Experiments in Confined Waters","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4391127803","doi":"https://doi.org/10.55417/fr.2024007"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2024007","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2024007","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.2024007","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005890513","display_name":"Trym Tengesdal","orcid":"https://orcid.org/0000-0001-8182-3292"},"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":true,"raw_author_name":"Trym Tengesdal","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-8182-3292","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003196264","display_name":"Sverre Velten Rothmund","orcid":"https://orcid.org/0000-0002-7659-7881"},"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":"Sverre V. Rothmund","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-7659-7881","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068610372","display_name":"Erlend A. Basso","orcid":"https://orcid.org/0000-0002-6025-4825"},"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":"Erlend A. Basso","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0002-6025-4825","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032326161","display_name":"Henrik M. Schmidt-Didlaukies","orcid":null},"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":"Henrik Schmidt-Didlaukies","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012692888","display_name":"Tor Arne Johansen","orcid":"https://orcid.org/0000-0001-9440-5989"},"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":"Tor A. Johansen","raw_affiliation_strings":["Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-9440-5989","affiliations":[{"raw_affiliation_string":"Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics, Norwegian University of Science and Technology, NO-7491 Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5005890513"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":3.2124,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.90737133,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"4","issue":null,"first_page":"211","last_page":"245"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11622","display_name":"Maritime Navigation and Safety","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9797000288963318,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9707000255584717,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/collision-avoidance","display_name":"Collision avoidance","score":0.7775521278381348},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6801495552062988},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6689854264259338},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.6397615671157837},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5573185682296753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45647603273391724},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45344334840774536},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.43978142738342285},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.35734498500823975},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.2648467719554901},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24838441610336304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19178539514541626},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.15964055061340332},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08840551972389221},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.07939127087593079}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7775521278381348},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6801495552062988},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6689854264259338},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.6397615671157837},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5573185682296753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45647603273391724},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45344334840774536},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.43978142738342285},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.35734498500823975},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2648467719554901},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24838441610336304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19178539514541626},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.15964055061340332},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08840551972389221},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.07939127087593079},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2024007","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2024007","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.2024007","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2024007","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":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2023024008","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W1911254468","https://openalex.org/W1506523185","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W1819938260","https://openalex.org/W2782776446"],"abstract_inverted_index":{"In":[0],"this":[1,50,104],"article,":[2],"full-scale":[3],"experiments":[4,97],"with":[5,35,137,154],"a":[6,36,133,166],"dynamic":[7,30],"obstacle":[8,31,44,200],"intention-aware":[9,135],"Collision":[10],"Avoidance":[11],"System":[12],"(CAS)":[13],"are":[14,179],"presented.":[15],"The":[16,47,96,143,171],"CAS":[17,136,152,178],"consists":[18],"of":[19,49,56,93,131,139,149,169,175],"the":[20,54,77,79,94,120,123,126,147,150,157,176,193,204,219],"Probabilistic":[21],"Scenario-Based":[22],"Model":[23],"Predictive":[24],"Control":[25],"(PSB-MPC)":[26],"for":[27,42,188,223],"trajectory":[28],"planning,":[29],"avoidance,":[32],"and":[33,71,110,163,173,190,202],"antigrounding,":[34],"Dynamic":[37],"Bayesian":[38],"Network":[39],"(DBN)":[40],"used":[41],"inferring":[43,64],"intentions":[45],"online.":[46],"novelty":[48],"article":[51],"lies":[52],"in":[53,59,112,165,192,229],"utilization":[55],"intention":[57,67,105,141,205],"information":[58,106],"deliberate":[60],"collision-free":[61],"planning.":[62],"By":[63],"multiple":[65,140],"different":[66],"states":[68],"on":[69,100,226],"how":[70],"if":[72],"nearby":[73],"obstacles":[74],"adhere":[75],"to":[76,114,156,198,209,217],"COLREGS,":[78],"PSB-MPC":[80],"can":[81,185],"plan":[82],"COLREGS-compliant":[83],"avoidance":[84],"maneuvers":[85,201],"when":[86],"possible,":[87],"taking":[88],"into":[89],"account":[90],"its":[91],"awareness":[92],"situation.":[95],"put":[98],"emphasis":[99],"hazardous":[101],"situations":[102],"where":[103],"is":[107,125],"both":[108],"useful":[109,187],"necessary":[111],"order":[113],"avoid":[115],"high":[116],"collision":[117],"risk.":[118],"To":[119],"authors\u2019":[121],"knowledge,":[122],"work":[124,216],"first":[127],"field":[128],"experimental":[129,144],"validation":[130],"such":[132],"probabilistic":[134],"consideration":[138],"states.":[142],"results":[145],"demonstrate":[146],"validity":[148],"proposed":[151,177],"scheme,":[153],"adherence":[155],"traffic":[158],"rules":[159],"(COLREGS)":[160],"7,":[161],"8":[162],"13\u201317":[164],"diverse":[167],"set":[168],"situations.":[170],"strengths":[172],"weaknesses":[174],"also":[180],"discussed,":[181],"giving":[182],"insights":[183],"that":[184],"be":[186,212],"researchers":[189],"practitioners":[191],"field.":[194],"Here,":[195],"challenges":[196],"related":[197],"detecting":[199],"making":[203],"inference":[206],"more":[207],"robust":[208],"noise":[210],"should":[211],"addressed":[213],"as":[214],"future":[215],"make":[218],"scheme":[220],"better":[221],"suited":[222],"general":[224],"usage":[225],"ships":[227],"engaged":[228],"real":[230],"traffic.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}