milliAmpere: An Autonomous Ferry Prototype

Brekke, Edmund; Eide, Egil; Eriksen, Bjørn-Olav Holtung; Wilthil, Erik F.; Breivik, Morten; Skjellaug, Even; Helgesen, Øystein Kaarstad; Lekkas, Anastasios M.; Martinsen, Andreas B.; Thyri, Emil H.; Torben, Tobias Rye; Veitch, Erik; Alsos, Ole Andreas; Johansen, Tor Arne

doi:10.1088/1742-6596/2311/1/012029

Cited by 31 publications

(14 citation statements)

References 27 publications

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“…1, is an urban autonomous passenger ferry developed by the Autoferry project at NTNU. The sensor system of the ferry is described in detail in [1] and [22], this section repeats key details used in this work.…”

Section: Sensor Platformmentioning

confidence: 99%

Maritime Tracking With Georeferenced Multi-Camera Fusion

2023

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Cameras form an essential part of any autonomous surface vehicle's sensor package, both for COLREGs compliance to detect light signals and for identifying and tracking other vessels. Due to limited fields of view compared to more traditional autonomy sensors such as lidars and radars, an autonomous surface vessel will typically be equipped with multiple cameras which can induce biases when used in tracking if a target is present in multiple image frames. In this work, we propose a novel pipeline for camera-based maritime tracking that combines georeferencing with clustering-based multi-camera fusion for bias-free camera measurements with target range estimates. Using real-world datasets collected using the milliAmpere research platform the performance of this pipeline exceeded a lidar benchmark across multiple performance measures, both in pure detection performance and as part of a JIPDA-based tracking system.

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Section: Sensor Platformmentioning

confidence: 99%

Maritime Tracking With Georeferenced Multi-Camera Fusion

2023

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“…Several prototypes have been built for environmental monitoring missions and ocean resource exploration [9,10,11,12,13]. Efforts towards autonomous inland ferries are also noteworthy, Norwegian University of Science and Technology developed an autonomous ferry prototype, named the milliAmpere [14]. Building upon the experiences gained from this test bed, the full-scale autonomous ferry milliAmpere2 was successfully launched.…”

Section: Relating Test Bedsmentioning

confidence: 99%

Design and Build of an Autonomous Catamaran Urban Cargo Vessel

Zhang,

Shuai,

Billet

et al. 2023

J. Phys.: Conf. Ser.

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This study introduces a novel test bed, named the Maverick, which aims to advance the field of autonomous inland waterborne freight transportation and facilitate its eventual implementation. More specifically, the Maverick focuses on operating in small waterways within urban areas, aligning its application scenario with the European project AVATAR. The hull form of the Maverick was selected to be a catamaran, as it offers several advantages, including a large open deck area, high transverse stability, and excellent maneuverability at low speeds. The Maverick is equipped with two 360-degrees-steerable azimuth thrusters, one at the bow and one at the stern. This configuration makes the Maverick over-actuated, and offers more advanced motion control possibilities compared to conventional rudder-propeller actuated vessels. The Maverick is composed out of modular building blocks combined with a flexible interface, which enables it to accommodate diverse control terminals for future developments. Furthermore, to illustrate the feasibility of the Maverick within an urban context, this study also includes results of several trail tests. The interactive communication framework that was successfully employed in the autonomous sailing experiment is introduced. The Maverick offers a versatile platform for testing and developing a wide range of technologies in situation awareness, autonomous sailing, smart waterway logistics, and other interconnected domains. Therefore, this innovative research vessel can pave the way for the development of a new freight transport mode within European urban areas, contributing valuable experiences to the field.

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“…The milliAmpere2 was featured as the simulated "own-boat" in the simulator. The milliAmpere2 is an autonomous urban passenger ferry designed and built at NTNU, which is based on its successful predecessor, milliAmpere [21] (Figure 1). In the simulator, we recreated the route the ferry traversed during public trials in 2022 (Figure 2).…”

Section: Simulatormentioning

confidence: 99%

Gorillas on a boat: Inattentional blindness during supervisory control of autonomous vessels

Veitch,

Alsos

2023

J. Phys.: Conf. Ser.

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When focused on a task, unexpected visual stimuli can go by unnoticed. Inattentional blindness may be problematic for supervisory controllers of autonomous vessels, because this role specifically relies on identifying unexpected stimuli in case intervention is needed. In a simulation-based experiment (n=32), we show that 50% of participants did not perceive an unexpected visual stimulus (a gorilla passenger) when assigned the task of supervisory controller for an autonomous ferry. Additionally, eye-tracking showed that 12 of the 16 players who did not report the gorilla in fact gazed directly at it. Results also showed no correlation to skillset (gamer or navigator) nor to vigilance (5- or 30-minute scenarios); they did, however, show positive correlation to multitasking (1 or 3 supervised vessels). We discuss implications for designing work tasks for supervisory control of remotely operated and autonomous vessels.

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milliAmpere: An Autonomous Ferry Prototype

Cited by 31 publications

References 27 publications

Maritime Tracking With Georeferenced Multi-Camera Fusion

Maritime Tracking With Georeferenced Multi-Camera Fusion

Design and Build of an Autonomous Catamaran Urban Cargo Vessel

Gorillas on a boat: Inattentional blindness during supervisory control of autonomous vessels

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