Cooperative Multi-Vessel Systems for Waterborne Transport

Linying Chen

Research output: ThesisDissertation (TU Delft)

124 Downloads (Pure)


This PhD thesis investigates V2V, V2I, and I2I cooperation of CMVSs for improving the safety and efficiency of waterborne transport. A predictive motion control framework and a generic negotiation framework are proposed to achieve consensus among controllers. Different applications provide insights into the impact of CMVSs on the performance of the waterborne transport systems. Specifically, four types of cooperation and their applications to the Port of Rotterdam and the metropolitan area of Amsterdam are investigated, i.e., Vessel Train Formation (VTF), Cooperative Floating Object Transport (CFOT), Waterway Intersection Scheduling (WIS), and Cooperative Waterway Intersection Scheduling (CWIS).
Original languageEnglish
QualificationDoctor of Philosophy
Awarding Institution
  • Delft University of Technology
  • Negenborn, R.R., Supervisor
  • Hopman, J.J., Supervisor
Thesis sponsors
Award date18 Nov 2019
Print ISBNs978-90-5584-257-5
Electronic ISBNs978-90-5584-257-5
Publication statusPublished - 2019

Bibliographical note

TRAIL Thesis Series T2019/15, The Netherlands TRAIL Research School


  • Cooperative Multi-Vessel Systems
  • Autonomous Vessels
  • Vessel train formation
  • Cooperative Object Transport
  • Distributed Model Predictive Control


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