Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals

J.M. de Vries; E. Trevisan; J. van der Toorn; T. Das; B.F. Ferreira de Brito; J. Alonso-Mora

doi:10.1109/ICRA46639.2022.9811608

Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals

J.M. de Vries, E. Trevisan, J. van der Toorn, T. Das, B.F. Ferreira de Brito, J. Alonso-Mora

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

5 Citations (Scopus)

29 Downloads (Pure)

Abstract

In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliant avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment.

Original language	English
Title of host publication	Proceedings of the International Conference on Robotics and Automation (ICRA 2022)
Editors	George J. Pappas, Vijay Kumar
Publisher	IEEE
Pages	3291-3297
ISBN (Electronic)	978-1-7281-9681-7
ISBN (Print)	978-1-7281-9680-0
DOIs	https://doi.org/10.1109/ICRA46639.2022.9811608
Publication status	Published - 2022
Event	2022 International Conference on Robotics and Automation (ICRA) - Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 Conference number: 39

Conference

Conference	2022 International Conference on Robotics and Automation (ICRA)
Abbreviated title	ICRA 2022
Country/Territory	United States
City	Philadelphia
Period	23/05/22 → 27/05/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Sea surface
Irrigation
Automation
Dynamics
Predictive models
Cost function
Regulation

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10.1109/ICRA46639.2022.9811608

Regulations_Aware_Motion_Planning_for_Autonomous_Surface_Vessels_in_Urban_Canals-1Final published version, 4.71 MB

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de Vries, J. M., Trevisan, E., van der Toorn, J., Das, T., Ferreira de Brito, B. F., & Alonso-Mora, J. (2022). Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals. In G. J. Pappas, & V. Kumar (Eds.), Proceedings of the International Conference on Robotics and Automation (ICRA 2022) (pp. 3291-3297). IEEE. https://doi.org/10.1109/ICRA46639.2022.9811608

@inproceedings{6ef6861cea29493080b3f2035127a8e0,

title = "Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals",

abstract = "In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliant avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment.",

keywords = "Sea surface, Irrigation, Automation, Dynamics, Predictive models, Cost function, Regulation",

author = "{de Vries}, J.M. and E. Trevisan and {van der Toorn}, J. and T. Das and {Ferreira de Brito}, B.F. and J. Alonso-Mora",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2022 International Conference on Robotics and Automation (ICRA), ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",

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doi = "10.1109/ICRA46639.2022.9811608",

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isbn = "978-1-7281-9680-0",

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editor = "Pappas, {George J.} and Vijay Kumar",

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publisher = "IEEE",

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}

de Vries, JM, Trevisan, E, van der Toorn, J, Das, T, Ferreira de Brito, BF & Alonso-Mora, J 2022, Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals. in GJ Pappas & V Kumar (eds), Proceedings of the International Conference on Robotics and Automation (ICRA 2022). IEEE, pp. 3291-3297, 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9811608

Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals. / de Vries, J.M.; Trevisan, E.; van der Toorn, J. et al.
Proceedings of the International Conference on Robotics and Automation (ICRA 2022). ed. / George J. Pappas; Vijay Kumar. IEEE, 2022. p. 3291-3297.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - de Vries, J.M.

AU - Trevisan, E.

AU - van der Toorn, J.

AU - Das, T.

AU - Ferreira de Brito, B.F.

AU - Alonso-Mora, J.

N1 - Conference code: 39

PY - 2022

Y1 - 2022

N2 - In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliant avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment.

AB - In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations aware motion planning framework for Autonomous Surface Vessels (ASVs) that accounts for dynamic and static obstacles. Our method builds upon local model predictive contouring control (LMPCC) to generate motion plans satisfying kino-dynamic and collision constraints in real-time while including regulation awareness. To incorporate regulations in the planning stage, we propose a cost function encouraging compliance with rules describing interactions with other vessels similar to COLlision avoidance REGulations at sea (COLREGs). These regulations are essential to make an ASV behave in a predictable and socially compliant manner with regard to other vessels. We compare the framework against baseline methods and show more effective regulation-compliant avoidance of moving obstacles with our motion planner. Additionally, we present experimental results in an outdoor environment.

KW - Sea surface

KW - Irrigation

KW - Automation

KW - Dynamics

KW - Predictive models

KW - Cost function

KW - Regulation

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M3 - Conference contribution

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EP - 3297

BT - Proceedings of the International Conference on Robotics and Automation (ICRA 2022)

A2 - Pappas, George J.

A2 - Kumar, Vijay

PB - IEEE

T2 - 2022 International Conference on Robotics and Automation (ICRA)

Y2 - 23 May 2022 through 27 May 2022

ER -

Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals

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Keywords

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