NDLI: Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic

Content Provider	SpringerLink
Author	Shah, Brual C. Švec, Petr Bertaska, Ivan R. Sinisterra, Armando J. Klinger, Wilhelm Ellenrieder, Karl Dhanak, Manhar Gupta, Satyandra K.
Copyright Year	2015
Abstract	The growing variety and complexity of marine research and application oriented tasks requires unmanned surface vehicles (USVs) to operate fully autonomously over long time horizons even in environments with significant civilian traffic. In order to address this challenge, we have developed a lattice-based 5D trajectory planner for USVs. The planner estimates collision risk and reasons about the availability of contingency maneuvers to counteract unpredictable behaviors of civilian vessels. The planner also incorporates avoidance behaviors of the vessels into the search for a dynamically feasible trajectory to minimize collision risk. In order to be computationally efficient, it dynamically scales the control action primitives of a trajectory based on the distribution and concentration of civilian vessels while preserving the dynamical feasibility of the primitives. We present a novel congestion metric to compare the complexity of different scenarios when evaluating the performance of the planner. Our results demonstrate that the basic version of the risk and contingency-aware planner (RCAP) significantly decreases the number of collisions compared to a baseline, velocity obstacles based planner, especially in complex scenarios with a high number of civilian vessels. The adaptive version of the planner (A-RCAP) improves the computational performance of RCAP by 500 %. This leads to a high replanning rate, which allows shorter traversal distances and smaller arrival times, while ensuring comparable incidence of collisions.
Starting Page	1139
Ending Page	1163
Page Count	25
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	40
Issue Number	7
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2015-12-21
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Lattice-based trajectory planning Resolution adaptive search Contingency planning Unmanned surface vehicle COLREGs Scenario congestion Robotics and Automation Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats

Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments

Behavioral control of unmanned aerial vehicle manipulator systems

Precision navigation and mapping under bridges with an unmanned surface vehicle

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Energy-optimal trajectory planning for car-like robots

Trajectory planning with adaptive control primitives for autonomous surface vehicles operating in congested civilian traffic

Inferring and monitoring invariants in robotic systems

Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic

Similar Documents

Target following with motion prediction for unmanned surface vehicle operating in cluttered environments

Model-predictive asset guarding by team of autonomous surface vehicles in environment with civilian boats

Automated synthesis of action selection policies for unmanned vehicles operating in adverse environments

Behavioral control of unmanned aerial vehicle manipulator systems

Precision navigation and mapping under bridges with an unmanned surface vehicle

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Energy-optimal trajectory planning for car-like robots

Trajectory planning with adaptive control primitives for autonomous surface vehicles operating in congested civilian traffic

Inferring and monitoring invariants in robotic systems

Resolution-adaptive risk-aware trajectory planning for surface vehicles operating in congested civilian traffic