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Item type:Publication, Access status: with files , Multi-waypoint global path planning for unmanned surface vehicles in confined environments(IOP Publishing, 2025-10-01); ; ; ; Motivated by the SeaClear2.0 Project's aim to clean ports and coastal areas using aerial and marine robotics, this work focuses on the reference generation for autopilots of Uncrewed Surface Vehicles (USVs) deployed in confined areas, such as, rivers, channels, ports or harbours. In the envisioned scenario, a USV must navigate through multiple waypoints, which roughly sketch the intended route. The planned route is based on available chart data and doesn't take in consideration optimality of the route or uncharted obstacles. The study implements a global path planner consisting in an A*algorithm, extendable via Genetic Algorithm (GA), for particular scenarios, where the order of the given waypoints is not enforced. In addition, a kinematics-based path planner using the Line-of-Sight (LoS) algorithm is developed for creating the reference vector for the USV control system. The global path planner and LoS algorithms are tested both in simulation and in sea trials, using a medium-sized USV. For the simulation environment, a digital twin of the USV is used. The sea trials validate the concept in a representative environment. The entire software solution is developed under Robot Operating System 2 (ROS2) framework and implements Guidance Navigation and Control (GNC) architecture, commonly used for autonomous navigation of USVs. The global path planning algorithm efficiently handles multi-waypoint selection and finds the shortest path between each two waypoints while avoiding known static obstacles. Additionally, the LoS algorithm generates reliable references for the vessel's autopilot. The novelty of the proposed solution consists in the usage of meta-heuristic algorithms for solving a discrete optimisation problem and in the integration of nautical chart data within the global path planner. The paper highlights the potential of the robotic solution for maritime applications, beyond the chosen scenario, when coupled with a complete GNC solution.Publicationtype: Conference Paper30 15 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , System architecture and communication infrastructure for the RoboVaaS project(IEEE, 2023-03-07); ; ; ; This is to notify you that the following article, "System Architecture and Communication Infrastructure for the RoboVaaS Project," has been finalized and posted to the "Early Access" area on IEEE Xplore. This article has been accepted for inclusion in a future issue of this journal and its content is final as presented with the exception of pagination and issue designation. It may be cited as an article in a future issue by its Digital Object Identifier.Publicationtype: Journal ArticleScopus© Citations 6 188 147 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , A web-oriented architecture for deploying multiple unmanned vehicles as a service(Fac. of Navigation, Gdynia Maritime Univ., 2021); ; ; Providing a robotic-assisted service in scenarios involving multiple Unmanned Vehicles (UVs) in possible beyond-visual-Line-Of-Sight (LoS) operations, safety and security are critical concerns. We develop a web-oriented, human-in-the-loop infrastructure to explore how the service provider can secure their system, enforce instant access control over dynamic operator-robot connections, and ensure the integrity, availability, and traceability of communicated data. Our proposed minimal viable solution requires an authentication server to verify user identity, a back server with a database to handle user requests and state-transition events, and a RabbitMQ (RMQ) server to trace the origin of data.Publicationtype: Journal Article17 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Robotic service concepts for the port of tomorrow: Developed via a small-scale demonstration testbed(2020-11); ; ; 14