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arXiv · 2501.13199

Symbolic Control for Autonomous Docking of Marine Surface Vessels

Elizabeth Dietrich·Emir Cem Gezer·Bingzhuo Zhong·Murat Arcak·Majid Zamani·Roger Skjetne·Asgeir Johan Sørensen
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Abstract

We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as control inputs and synthesize a symbolic controller in real-time. The desired velocities are then executed by the vessel's low-level velocity feedback control loop. We next investigate methods to optimize the performance of the proposed control scheme. The results are evaluated on a simulation model of a marine surface vessel in the presence of static obstacles and, for the first time, through physical experiments on a scale model vessel.

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Elizabeth Dietrich, Emir Cem Gezer, Bingzhuo Zhong, Murat Arcak, Majid Zamani, Roger Skjetne, Asgeir Johan Sørensen. 2025-01-22. Symbolic Control for Autonomous Docking of Marine Surface Vessels. https://arxiv.org/abs/2501.13199

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