COLREGs-compliant dynamic collision avoidance algorithm based on deep deterministic policy gradient

In order to reduce collision avoidance accidents and improve the safety of ship navigation, a dynamic collision avoidance algorithm based on deep reinforcement learning is proposed in this paper. In order to avoid the fuzziness and uncertainty in the encounter process, the degree of risk is formulated to quantify the collision risk. International regulations for preventing collisions at sea (COLREGs) are quantified reasonably. Considering the factors of collision, position, speed, course and compliance with the COLREGs, the reward function of the algorithm is designed to ensure that the collision avoidance decision is safe and effective and meet the requirements of the COLREGs. Based on DDPG algorithm, the sample data processing mechanism is improved, the utilization rate of experience is improved, and the problems of long learning time and unstable training are solved. The navigation and collision avoidance for multiple ships are simulated respectively. The results show that this method can effectively avoid obstacle ships under the requirements of COLREGs, and it has good real-time performance and safety

COLREGs-compliant dynamic collision avoidance algorithm based on deep deterministic policy gradient

978-987In order to reduce collision avoidance accidents and improve the safety of ship navigation, a dynamic collision avoidance algorithm based on deep reinforcement learning is proposed in this paper. In order to avoid the fuzziness and uncertainty in the encounter process, the degree of risk is formulated to quantify the collision risk. International regulations for preventing collisions at sea (COLREGs) are quantified reasonably. Considering the factors of collision, position, speed, course and compliance with the COLREGs, the reward function of the algorithm is designed to ensure that the collision avoidance decision is safe and effective and meet the requirements of the COLREGs. Based on DDPG algorithm, the sample data processing mechanism is improved, the utilization rate of experience is improved, and the problems of long learning time and unstable training are solved. The navigation and collision avoidance for multiple ships are simulated respectively. The results show that this method can effectively avoid obstacle ships under the requirements of COLREGs, and it has good real-time performance and safety

Naval Research Program 2021 Annual Report

NPS NRP Annual ReportThe Naval Postgraduate School (NPS) Naval Research Program (NRP) is funded by the Chief of Naval Operations and supports research projects for the Navy and Marine Corps. The NPS NRP serves as a launch-point for new initiatives which posture naval forces to meet current and future operational warfighter challenges. NRP research projects are led by individual research teams that conduct research and through which NPS expertise is developed and maintained. The primary mechanism for obtaining NPS NRP support is through participation at NPS Naval Research Working Group (NRWG) meetings that bring together fleet topic sponsors, NPS faculty members, and students to discuss potential research topics and initiatives.Chief of Naval Operations (CNO)Approved for public release. Distribution is unlimited.

Air Force Institute of Technology Research Report 2019

This Research Report presents the FY19 research statistics and contributions of the Graduate School of Engineering and Management (EN) at AFIT. AFIT research interests and faculty expertise cover a broad spectrum of technical areas related to USAF needs, as reflected by the range of topics addressed in the faculty and student publications listed in this report. In most cases, the research work reported herein is directly sponsored by one or more USAF or DOD agencies. AFIT welcomes the opportunity to conduct research on additional topics of interest to the USAF, DOD, and other federal organizations when adequate manpower and financial resources are available and/or provided by a sponsor. In addition, AFIT provides research collaboration and technology transfer benefits to the public through Cooperative Research and Development Agreements (CRADAs). Interested individuals may discuss ideas for new research collaborations, potential CRADAs, or research proposals with individual faculty using the contact information in this document

Air Force Institute of Technology Research Report 2018

This Research Report presents the FY18 research statistics and contributions of the Graduate School of Engineering and Management (EN) at AFIT. AFIT research interests and faculty expertise cover a broad spectrum of technical areas related to USAF needs, as reflected by the range of topics addressed in the faculty and student publications listed in this report. In most cases, the research work reported herein is directly sponsored by one or more USAF or DOD agencies. AFIT welcomes the opportunity to conduct research on additional topics of interest to the USAF, DOD, and other federal organizations when adequate manpower and financial resources are available and/or provided by a sponsor. In addition, AFIT provides research collaboration and technology transfer benefits to the public through Cooperative Research and Development Agreements (CRADAs). Interested individuals may discuss ideas for new research collaborations, potential CRADAs, or research proposals with individual faculty using the contact information in this document

Air Force Institute of Technology Research Report 2017

This Research Report presents the FY18 research statistics and contributions of the Graduate School of Engineering and Management (EN) at AFIT. AFIT research interests and faculty expertise cover a broad spectrum of technical areas related to USAF needs, as reflected by the range of topics addressed in the faculty and student publications listed in this report. In most cases, the research work reported herein is directly sponsored by one or more USAF or DOD agencies. AFIT welcomes the opportunity to conduct research on additional topics of interest to the USAF, DOD, and other federal organizations when adequate manpower and financial resources are available and/or provided by a sponsor. In addition, AFIT provides research collaboration and technology transfer benefits to the public through Cooperative Research and Development Agreements (CRADAs)

Air Force Institute of Technology Research Report 2007

This report summarizes the research activities of the Air Force Institute of Technology’s Graduate School of Engineering and Management. It describes research interests and faculty expertise; lists student theses/dissertations; identifies research sponsors and contributions; and outlines the procedures for contacting the school. Included in the report are: faculty publications, conference presentations, consultations, and funded research projects. Research was conducted in the areas of Aeronautical and Astronautical Engineering, Electrical Engineering and Electro-Optics, Computer Engineering and Computer Science, Systems and Engineering Management, Operational Sciences, Mathematics, Statistics and Engineering Physics

Safety and Reliability - Safe Societies in a Changing World

The contributions cover a wide range of methodologies and application areas for safety and reliability that contribute to safe societies in a changing world. These methodologies and applications include: - foundations of risk and reliability assessment and management - mathematical methods in reliability and safety - risk assessment - risk management - system reliability - uncertainty analysis - digitalization and big data - prognostics and system health management - occupational safety - accident and incident modeling - maintenance modeling and applications - simulation for safety and reliability analysis - dynamic risk and barrier management - organizational factors and safety culture - human factors and human reliability - resilience engineering - structural reliability - natural hazards - security - economic analysis in risk managemen

Summary of Research 1994

The views expressed in this report are those of the authors and do not reflect the official policy or position of the Department of Defense or the U.S. Government.This report contains 359 summaries of research projects which were carried out under funding of the Naval Postgraduate School Research Program. A list of recent publications is also included which consists of conference presentations and publications, books, contributions to books, published journal papers, and technical reports. The research was conducted in the areas of Aeronautics and Astronautics, Computer Science, Electrical and Computer Engineering, Mathematics, Mechanical Engineering, Meteorology, National Security Affairs, Oceanography, Operations Research, Physics, and Systems Management. This also includes research by the Command, Control and Communications (C3) Academic Group, Electronic Warfare Academic Group, Space Systems Academic Group, and the Undersea Warfare Academic Group