Formal Verification of COLREG-Based Navigation of Maritime Autonomous Systems

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6 Citeringar (Scopus)
39 Nedladdningar (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.
Titel på värdpublikationSoftware Engineering and Formal Methods
Undertitel på värdpublikation18th International Conference, SEFM 2020, Amsterdam, The Netherlands, September 14–18, 2020, Proceedings
RedaktörerFrank de Boer, Antonio Cerone
FörlagSpringer, Cham
Antal sidor19
ISBN (tryckt)978-3-030-58767-3
StatusPublicerad - 2020
MoE-publikationstypA4 Artikel i en konferenspublikation
EvenemangInternational Conference on Software Engineering and Formal Methods - SEFM 2020
Varaktighet: 14 sep. 202018 sep. 2020


NamnLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volym12310 LNCS
ISSN (tryckt)0302-9743
ISSN (elektroniskt)1611-3349


KonferensInternational Conference on Software Engineering and Formal Methods


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