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Cooperative Multi-Vessel System

Linying Chen

Prof. Rudy R. Negenborn

Prof. J. J. Hopman

Department of Maritime and Transport Technology

Faculty of Mechanical, Maritime and Materials Engineering (3mE)

EMAIL: L.chen-2@tudelft.nl; R.R.Negenborn@tudelft.nl; J.J.Hopman@tudelft.nl.

International Seminar on Safety and Security of Autonomous Vessels

21st, March, 2018, Delft, the Netherlands

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Contents

1. Background

2. Cooperative Multi-Vessel System (CMVS)

3. Intra-CMVS V2V cooperation

• Vessel Train Formation (VTF)

4. Inter-CMVS V2V cooperation

• Waterway Intersection Scheduling (WIS)

5. Conclusion and future research

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Background

• Problem– Safety

• Misunderstanding

• Unexpected incidents

– Efficiency• Congestion at locks and ports

– Task performing• Tasks which cannot be fulfilled by individual

vessels, such as towing large structures, searching, etc.

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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Background

• Cooperation as a solution– Safety:

• Efficient decision making

• Fast reaction to unexpected incidents

• Organized traffic

– Efficiency:• Improve the utilization rate

• Saves line-up time

– Task performing:• Cooperation of a group of vessels can carry out

tasks more efficiently and effectively

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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Cooperative Multi-Vessel System1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Intra-CMVS Vessel-to-Vessel cooperation

– Vessel Train Formation

• Inter-CMVS Vessel-to-Vessel cooperation

– Waterway Intersection Scheduling

• Vessel-to-Infrastructure cooperation

Cooperative Multi-Vessel System1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Method: Model Predictive Control– Consider conflicts at an early stage

– Up-to-date information

– Control of large-scare networked systems

Cooperative Multi-Vessel System1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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Intra-CMVS V2V cooperation

-- Vessel Train Formation• Path following:

– attempt to follow the predetermined paths;

• Aggregation:

– attempt to stay close to nearby vessels;

• Collision avoidance:

– avoid collisions with nearby vessels.

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Centralized & distributed control

Intra-CMVS V2V cooperation

-- Vessel Train Formation1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Centralized formulation

Intra-CMVS V2V cooperation

-- Vessel Train Formation

Path following

Aggregation

Control efforts

Input constraint

Velocity constraint

Collision avoidance

Aggregation constraint

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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Intra-CMVS V2V cooperation

-- Vessel Train Formation

• Distributed formulation– ADMM-based serial iterative algorithm

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

Maritime &

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a) Each vessel solves a local

problem and sends the

predictive trajectory to others.

b) Information updates in

sequence

c) Iterations stop when

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• Simulation experiments

– Influencing factors

• Updating sequence

Intra-CMVS V2V cooperation

-- Vessel Train Formation

Maritime &

Transport

Technology

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Simulation experiments

– Influencing factors

• Responsibility

ሻ𝑧𝑖𝑠(𝑘 ൯= 𝜑𝑖𝑢𝑖

𝑠(𝑘ሻ + 1 − 𝜑𝑖 𝑧𝑖𝑠−1(𝑘

+ Τ൯𝜆𝑖𝑠−1(𝑘 𝜌𝑖 ,

𝑖=1

𝑛

𝜑𝑖 ⩾ 1, 0 ⩽ 𝜑𝑖 ⩽ 1.

Intra-CMVS V2V cooperation

-- Vessel Train Formation

𝑧𝑖𝑠(𝑘ሻ = 𝑢𝑖

𝑠(𝑘ሻ + Τ൯𝜆𝑖𝑠−1(𝑘 𝜌𝑖

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

Maritime &

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Intra-CMVS V2V cooperation

-- Vessel Train Formation1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

Intra-CMVS V2V cooperation

-- Vessel Train Formation

Maritime &

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Technology

• Simulation experiments

– Influencing factors

• Responsibility

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• Simulation experiments

– Scalability

Intra-CMVS V2V cooperation

-- Vessel Train Formation1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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0

10

20

30

40

50

60

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2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

Com

pu

tati

on

al

tim

e

in e

ach

tim

e st

ep (

s) InterQuartile Range

Median

Max

Mean

Min

0

1

2

3

4

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8

2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30

Nu

mb

er o

f it

erati

on

s

in e

ach

tim

e st

ep

Number of vessels in a CMVS

Intra-CMVS V2V cooperation

-- Vessel Train Formation1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

Maritime &

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1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

• Simulation of a CMVS

Intra-CMVS V2V cooperation

-- Vessel Train Formation

L. Chen, R.R. Negenborn, J.J. Hopman. Distributed model predictive control for vessel train formation of cooperative multi-vessel

systems. Manuscript submitted for publication.

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• Time-space occupation– a vessel passing through an intersection can be

regarded as occupying some blocks for a certain

period.

Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Sequential constraint: – a vessel passes through the blocks in a predetermined

sequence;

• No-wait constraint: – a vessel has to enter the next block immediately when

it leaves a block;

• Disjunctive constraint: – other vessels cannot enter a block until the one inside

leaves the block.

Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Simulation experiments

Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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• Simulation experiments– Scenario I: Non-cooperative case

• Arrivals -- Poisson distribution

• Intersection Crossing -- Artificial Potential Field

– Scenario II: Partially-cooperative case • Arrivals -- VTF

• Intersection Crossing -- Artificial Potential Field

– Scenario III: Fully-cooperative case • Arrivals -- VTF

• Intersection Crossing -- WIS

Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

Maritime &

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Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling

Maritime &

Transport

Technology

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

L. Chen, R.R. Negenborn, J.J. Hopman. Intersection crossing of cooperative multi-vessel systems. Accepted for the 15th

IFAC Symposium on Control in Transportation Systems (IFAC CTS 2018), Savona, Italy, June 2018.

• Simulation Results

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• Simulation Results

– Overall makespan and the passing time

Inter-CMVS V2V cooperation --

Waterway Intersection Scheduling1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

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Conclusion and Future research

• Conclusion– The concept of CMVSs

– A serial iterative ADMM-based DMPC algorithm for VTF of a CMVS

– WIS for V2V interaction between CMVSs

• Future research– Intra-CMVS Vessel-to-Vessel cooperation

• Task Performing Formation

– Vessel-to-Infrastructure cooperation

• Predictive scheduling for locks

1. Background

2. CMVS

3. Intra-CMVS

-- VTF

4. Inter-CMVS

-- WIS

5. Conclusion

Maritime &

Transport

Technology

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Linying CHEN, L.chen-2@tudelft.nl

Maritime &

Transport

Technology

• L. Chen, R.R. Negenborn, J.J. Hopman. Distributed model predictive

control for vessel train formation of cooperative multi-vessel systems.

Manuscript submitted for publication.

• L. Chen, R.R. Negenborn, J.J. Hopman. Intersection crossing of

cooperative multi-vessel systems. Accepted for the 15th IFAC

Symposium on Control in Transportation Systems (IFAC CTS 2018),

Savona, Italy, June 2018.

• L. Chen, R.R. Negenborn, G. Lodewijks. Path planning for

autonomous inland vessels using A*BG. In Proceedings of the 7th

International Conference on Computational Logistics (ICCL 2016),

Lisbon, Portugal, pp. 65-79, September 2016.

http://negenborn.net/rudy/

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