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2022 Journal Impact Factor - 0.6
2022 CiteScore - 1.7




ISSN 2083-6473
ISSN 2083-6481 (electronic version)




Associate Editor
Prof. Tomasz Neumann

Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
DSSA+: Distributed Collision Avoidance Algorithm in an Environment where Both Course and Speed Changes are Allowed
1 Kobe University, Kobe, Japan
Times cited (SCOPUS): 10
ABSTRACT: Distributed Stochastic Search Algorithm (DSSA) is one of state-of-the-art distributed algorithms for the ship collision avoidance problem. In DSSA, whenever a ship encounters with any number of other ships (neighboring ships), she will select her course with a minimum cost after coordinating their decisions with her neighboring ships. The original DSSA assumes that ships can change only their courses while keeping their speed considering kinematic properties of ships in general. However, considering future possibilities to address more complex situations that may cause ship collision or to deal with collision of other vehicles (such as mobile robots or drones), the options of speed changes are necessary for DSSA to make itself more flexible and extensive. In this paper, we present DSSA+, as a generalization of DSSA, in which speed change are naturally incorporated as decision variables in the original DSSA. Experimental evaluations are provided to show how powerful this generalization is.
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Citation note:
Hirayama K., Miyake K., Shiota T., Okimoto T.: DSSA+: Distributed Collision Avoidance Algorithm in an Environment where Both Course and Speed Changes are Allowed. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 13, No. 1, doi:10.12716/1001.13.01.11, pp. 117-123, 2019

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