Global Data Storage for Collision Avoidance in Robotic Sailboat Racing – the World Server Approach

Ammann, Nikolaus; Hartmann, Florian; Jauer, Philipp; Krüger, Julia; Meyer, Tobias; Bruder, Ralf; Schlaefer, Alexander

doi:10.1007/978-3-642-22836-0_11

Cited by 6 publications

(3 citation statements)

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“…Autonomous Sailing Platforms Several researchers have designed computational platforms for autonomous sailing addressing the problems of track-ing and collision avoidance [2], testing of sailing missions [1] or AI boat control algorithms [4] as well as real and simulated boat control and modelling [13].…”

Section: Sailing Boat Simulatorsmentioning

confidence: 99%

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APASail—An Agent-Based Platform for Autonomous Sailing Research and Competition

Alves

Veloso

Malheiro

2018

Robotic Sailing 2017

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This paper presents a platform for real and simulated autonomous sailing competitions, which can also be used as a research tool to test and assess navigation algorithms. The platform provides back-end services-competition server, boat modelling and data storage-and supports external browsers and software agents as front-end clients. The back-end adopts the Multi-Agent System (MAS) paradigm for the internal modelling of sailing boats and offers a Web Service Application Programming Interface (API) for the external software agents and a Web application for Web browsers. As a whole, the platform offers tracking (real competitions) and simulation (simulated competitions) modes. The testing and assessment of navigation algorithms and boat models correspond to private simulated competitions. In simulation mode, the back-end internal boat agent implements a simplified physical model, including the weight, sail area, angle of the sail and rudder, velocity and direction of the wind and position and velocity of the hull, whereas the front-end external boat agent implements the navigation algorithm on the team side, ensuring the privacy of strategic knowledge. The Web application allows the configuration and launching of competitions, the registration of teams and researchers, the uploading of boat physical features for simulation as well as the live or playback viewing of real and simulated competitions. The simulation mode is illustrated with the help of a case study. The proposed platform, which is open, scalable, modular and distributed, was designed for the research community to prepare, run and gather data from real and simulated autonomous sailing competitions.

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Section: Sailing Boat Simulatorsmentioning

confidence: 99%

“…In 2011, Ammann et al proposed a world server approach for the WRSC competition in order to gather, broadcast and store data from all vessels and, thus, provide tracking and collision avoidance functionalities [2].…”

Section: Sailing Boat Simulatorsmentioning

confidence: 99%

APASail—An Agent-Based Platform for Autonomous Sailing Research and Competition

Alves

Veloso

Malheiro

2018

Robotic Sailing 2017

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“…A realistic simulator that can validate the complete system before expensive sea trials [27], while keeping in mind an important observation made by Schlaefer in 2011 that "anti-collision usually works in simulation but in real world never" [26].…”

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confidence: 99%

An Engineering Design Approach for the Development of an Autonomous Sailboat to Cross the Atlantic Ocean

et al. 2021

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Over the past decade, interest in autonomous vessels significantly increased as the technology improved, especially in the automotive industry. Unlike cars, ships travel in a wild environment and maritime lanes are not limited by white lines. This makes the design of fully autonomous vessels even more challenging. Additionally, the need to reduce greenhouse gas emissions led to a renewed interest in wind propulsion. Sailboats have several advantages, such as full energy autonomy and a limited environmental impact. The Microtransat Challenge, which consists of crossing the Atlantic Ocean, is a tremendous test field. This paper describes, within that frame, a design procedure for the development of a robust fully autonomous sailboat to be deployed for long-term missions. In this paper, the mechanical and electronic design strategies are presented. A focus is on reliability and power management. Moreover, a test procedure for validating each design increment is described as well as a path plan that considers the risk of collision and weather routing with wind and currents. The Microtransat remains a challenge that no autonomous ship has ever succeeded (and has been completed by a single unmanned vessel, SB Met in 2018). However, the results by Breizh Tigresse and Sealeon in 2015 and 2018 made a step forward in terms of time and distance. They are presented and analyzed in this work.

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