Amount Awarded: $20,000
Autonomous marine systems may lead to smarter and more efficient operations, but emerging risks are involved, because of lack of knowledge and operational experience with such systems, and challenges related to verification of safe performance. In this project we propose a safe-by-design motion plan and controller, based on extending the planner-tracker framework to handle modeling uncertainty, including parametric uncertainty and unmodeled dynamics. The project will advance tools for formal verification into the marine domain, having high confidence in correctness of system modules, thereby lessening the burden on time-consuming simulation-based testing. The algorithms will be tested in simulations of a marine vessel, on real AIS data, and experimentally in the NTNU Marine Cybernetics Laboratory.