V. Garofano
21 records found
1
Authored
In this study, we investigated autonomous vessel obstacle avoidance using advanced techniques within the Guidance, Navigation, and Control (GNC) framework. We propose a Mixed Integer Linear Programming (MILP) based Guidance system for robust path planning avoiding static and d ...
Follow-the-Leader Guidance, Navigation, and Control of Surface Vessels
Design and Experiments
A novel follow-the-leader approach for azimuth-driven vessels is devised and experimentally tested in a model-scale outdoor scenario. The vessels are equipped with global navigation satellite and inertial navigation systems. A line-of-sight algorithm ensures the yaw-check abil ...
Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. ...
The framework of an autonomous vessel is typically composed of three distinct and independent blocks known as the Guidance, Navigation and Control (GNC) system. This paper presents a combination of advanced complementary techniques in the different GNC subsystems to improve up ...
The maneuvering control of autonomous vessels has been under extensive investigations by academic and industrial communities since it is one of the primary steps towards enabling unmanned shipping. In this paper, a model predictive control (MPC) approach is presented for traje ...
The collaborative autonomous shipping experiment (Case)
Motivations, theory, infrastructure, and experimental challenges
The future autonomous ships will be operating in an environment where different autonomous and non-autonomous vessels with different characteristics exist. These vessels are owned by different parties and each uses its owned unique approaches for guidance and navigation. The C ...
This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature i ...
Eco-VTF
Fuel-efficient vessel train formations for all-electric autonomous ships
In this paper, a distributed control approach is proposed to enable fuel-efficient Vessel Train Formations (VTF) in inland waterways and port areas for addressing the efficiency and environmental issues of transport over water. For path tracking, collision avoidance, and conse ...
Real-time collision avoidance with full consideration of ship maneuverability, collision risks and International Regulations for Preventing Collisions at Sea (COLREGs) is difficult in multi-ship encounters. To deal with this problem, a novel method is proposed based on model p ...
Contributed
Mooring and unmooring are vital processes in the operation of ships, as it is the ...
Roboat Formation Control
Sailing in Formation for Waste Transport using Roboat units
control methods for distributed lea ...