Decentralised Collision Avoidance in a Semi-collaborative Multi-agent System

  • Sascha Hornauer
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8076)


A new approach is considered which explores a decentralised trajectory optimisation algorithm in partly collaborative multi-agent systems to improve safety and provide reliable collision avoidance for vessels in narrow waterways and the open sea. This research will explore trajectory planning under the hypothesis that not all vessels in an encounter will be able or willing to use the same, proposed system. Planning realistic trajectories, which minimise the need to re-plan, will be achieved by observing the predicted behaviour of uncooperative vessels, based on probabilistic models derived from historic data.


Collision Avoidance Ship Collision Collision Avoidance Strategy Passive Vessel Collision Avoidance Manoeuvre 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Sascha Hornauer
    • 1
  1. 1.Carl-von-Ossietzky University of OldenburgGermany

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