Cooperative Multi-Vessel Systems for Waterborne Transport

This PhD thesis investigates V2V, V2I, and I2I cooperation of CMVSs for improving the safety and efficiency of waterborne transport. A predictive motion control framework and a generic negotiation framework are proposed to achieve consensus among controllers. Different applications provide insights into the impact of CMVSs on the performance of the waterborne transport systems. Specifically, four types of cooperation and their applications to the Port of Rotterdam and the metropolitan area of Amsterdam are investigated, i.e., Vessel Train Formation (VTF), Cooperative Floating Object Transport (CFOT), Waterway Intersection Scheduling (WIS), and Cooperative Waterway Intersection Scheduling (CWIS).