Offshore Robotics: Volume I Issue 1, 2021

Contents
Survey on Collision-Avoidance Navigation of Maritime Autonomous Surface Ships
	1 Introduction
	2 State-of-the-Art Autonomous Vessel and Collision Avoidance Technology
		2.1 Advances in the MASS
		2.2 Advances in Collision Avoidance and Action Planning Technology
	3 Maritime Autonomous Navigation Systems
		3.1 Challenges in Autonomous Navigation Systems in Uncertain Environment
		3.2 Design of Maritime Autonomous Navigation Systems
	4 Trade-off Between Autonomy and Navigation Action
	5 Trends in Maritime Autonomous Navigation Systems
	6 Conclusion
	References
Ocean Explorations Using Autonomy: Technologies, Strategies and Applications
	1 Introduction
	2 Autonomous Surface Vehicles (ASVs) and the Deployment Strategies
		2.1 Tasks Management in ASVs
		2.2 Machine Learning Used in ASVs
		2.3 Multi-ASV Systems and Control Architectures
	3 Unmanned Underwater Vehicles
		3.1 Unmanned Underwater Vehicles Technologies
		3.2 Underwater Communication Technologies
		3.3 Control Solutions for AUVs
	4 Applications of Multiple Autonomous Marine Vehicles
		4.1 Cooperation of Multiple AUVs
		4.2 Cooperation of AUVs and ASVs
	5 Deployment Strategies of Multiple Autonomous Marine Vehicles
		5.1 Coverage Methods
		5.2 Cooperative Search Methods
		5.3 Formation Control Methods
		5.4 Cooperative Navigation Methods
		5.5 Rendezvous Planning Methods
	6 Conclusions
	References
Single-Beacon Based Underwater Robot Navigation
	1 Introduction
	2 Single-Beacon Navigation: Basic Method
		2.1 Kinematic Model
		2.2 Measurement Model
		2.3 Estimation Solution
	3 Dealing with Unknown ESV
		3.1 Modified Measurement Model
		3.2 State-Augmented Method
		3.3 Expectation-Maximization Method
		3.4 Variational Bayesian Approximation Method
	4 Numerical Studies
		4.1 Case 1
		4.2 Case 2
	5 Conclusions and Future Directions
	References
Review on the Research of Ship Automatic Berthing Control
	1 Introduction
	2 Automatic Berthing Types
		2.1 Stabilization Control Outside the Berth
		2.2 Direct Berthing
		2.3 Stabilization Control Outside the Berth and then Parallel Berthing
	3 Difficulties of Research
	4 Current Research
		4.1 Uncertainties of Models
		4.2 Uncertainties of Disturbances
		4.3 Stabilization Problems of Underactuated Ship
		4.4 Path Planning
		4.5 Control Device Accuracy
	5 Engineering Practice
	6 Prospect
	7 Conclusion
	References