Marine vessels with dynamic positioning (DP) capability are typically equipped with
sufficient number of thrusters to make them overactuated and with satellite navigation and …

Wetlands, the geographic areas where water meets the earth, are ecosystems essential for
life and an increasing number of conventions, directives and research projects recognise the …

Autonomous surface vehicles (ASVs) are safety-critical systems that must provide strict
safety guarantees such as collision avoidance to enable fully autonomous operations. This …

The azimuth thruster is widely used in electric propulsion ships due to its excellent
performance. The thrust allocation (TA) method of multi-azimuth thruster is the key …

This work presents and implements a decoupled Thrust Allocation (TA) algorithm for
overactuated inland surface vessels. The utilised control strategy is Nonlinear Model …

Control system is very important for each autonomous surface vehicle (ASV), which involves
the problem of maintaining the vehicle's position and heading using feedback controller and …

In this paper, we present a system simulator of a marine vessel and power plant which
contains the mechanical system with diesel engines, propellers, steering gear, and thrusters; …

This paper presents two novel results concerning the control allocation problem (CAP) for
marine crafts with 2 azimuth thrusters. The first result is a novel closed form solution for the …

The Internet of Vessels (IoV) is an extension of the concept of the Internet of Things (IoT) to
the shipping industry. One of the ultimate goals of ship networking is to realize the …

This thesis presents new results and solutions for prioritized control of robotic systems and
hybrid feedback control of marine and aerial vehicles. We introduce a novel task-priority …