Formal Verification of COLREG-Based Navigation of Maritime Autonomous Systems

Research output: Chapter in Book/Conference proceedingConference contributionScientificpeer-review

6 Citations (Scopus)
47 Downloads (Pure)


Along with the very actively progressing field of autonomous ground and aerial vehicles, the advent of autonomous vessels has brought up new research and technological problems originating from the specifics of marine navigation. Autonomous ships are expected to navigate safely and avoid collisions following COLREG navigation rules. Trustworthy navigation of autonomous ships presumes applying provably correct navigation algorithms and control strategies. We introduce the notion of maritime game as a special case of Stochastic Priced Timed Game and model the autonomous navigation using UPPAAL STRATEGO. Furthermore, we use the refinement technique to develop a game model in a correct-by-construction manner. The navigation strategy is verified and optimized to achieve the goal to safely reach the manoeuvre target points at a minimum cost. The approach is illustrated with a case study inspired by COLREG Rule 15.
Original languageEnglish
Title of host publicationSoftware Engineering and Formal Methods
Subtitle of host publication18th International Conference, SEFM 2020, Amsterdam, The Netherlands, September 14–18, 2020, Proceedings
EditorsFrank de Boer, Antonio Cerone
PublisherSpringer, Cham
Number of pages19
ISBN (Print)978-3-030-58767-3
Publication statusPublished - 2020
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Software Engineering and Formal Methods - SEFM 2020
Duration: 14 Sept 202018 Sept 2020

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12310 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceInternational Conference on Software Engineering and Formal Methods


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