自主水面船（ASV）在公海作业的安全性与可持续性方面发挥着日益重要的作用。由于大多数海上事故与人为失误有关，用于自主避碰和路径跟随的智能算法能够大幅降低海事领域的风险。数字孪生（DT）是真实物理系统的虚拟表示，能够增强此类 ASV 的态势感知（SITAW），从而生成最优决策。本工作建立在现有的 ASV 数字孪生框架之上，并展示了实现预测性、规范性和自主性能力的基础。在此背景下，先进的目标跟踪方法对于估计和预测其他动态物体的位置与运动至关重要。所应用的跟踪方法由实时自动识别系统（AIS）数据和合成激光雷达（Lidar）测量数据驱动。为确保自主作业期间的安全，我们基于非线性模型预测控制（NMPC）的概念应用了预测安全滤波器。这些方法被实现到使用 Unity 游戏引擎构建的数字孪生中。因此，本工作展示了一个数字孪生的潜力，该数字孪生能够进行预测、推演各种假设情景，并根据其增强的态势感知提供最优控制决策。
英文摘要：
Autonomous surface vessels (ASVs) play an increasingly important role in the safety and sustainability of open sea operations. Since most maritime accidents are related to human failure, intelligent algorithms for autonomous collision avoidance and path following can drastically reduce the risk in the maritime sector. A DT is a virtual representative of a real physical system and can enhance the situational awareness (SITAW) of such an ASV to generate optimal decisions. This work builds on an existing DT framework for ASVs and demonstrates foundations for enabling predictive, prescriptive, and autonomous capabilities. In this context, sophisticated target tracking approaches are crucial for estimating and predicting the position and motion of other dynamic objects. The applied tracking method is enabled by real-time automatic identification system (AIS) data and synthetic light detection and ranging (Lidar) measurements. To guarantee safety during autonomous operations, we applied a predictive safety filter, based on the concept of nonlinear model predictive control (NMPC). The approaches are implemented into a DT built with the Unity game engine. As a result, this work demonstrates the potential of a DT capable of making predictions, playing through various what-if scenarios, and providing optimal control decisions according to its enhanced SITAW.
Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters
Institute of Automation, CAS（中国科学院自动化研究所）；School of Artificial Intelligence, UCAS（中国科学院大学人工智能学院）；Zhongguancun Academy（中关村学院）；University College London（伦敦大学学院）
Integrating a Digital Twin Concept in the Zero Emission Sea Transporter (ZEST) Project for Sustainable Maritime Transport using Stonefish Simulator
University of Girona（赫罗纳大学）；Heriot-Watt University（赫瑞-瓦特大学）；Cyprus Marine and Maritime Institute（塞浦路斯海洋与海事研究所）；Open University of Cyprus（塞浦路斯开放大学）；University of Nicosia（尼科西亚大学）
为了应对国际海事组织（IMO）和欧洲绿色协议的Fit for 55立法一揽子规定的严格减排目标，海运业已将重点转向脱碳。虽然超过5，000总吨（GT）的船舶受到了极大的关注，但沿海和短途海运的排放量约占全球航运运输的13%，占欧盟（EU）的15%，尚未得到充分考虑。本文介绍了零排放海上运输船（ZEST）项目，旨在通过开发一种零排放多用途双体船来解决这一问题
OUXT Polaris: Autonomous Navigation System for the 2022 Maritime RobotX Challenge
Kyoto Institute of Tech（京都工业大学）；Kansai Univ（关西大学）；Tokai Univ（东海大学）；Osaka Institute of Tech（大阪工业大学）；Osaka Univ（大阪大学）；Gifu Univ（岐阜大学）；Kobe Univ（神户大学）；TXP Medical Co. Ltd（TXP医疗株式会社）；TIER IV inc（TIER IV公司）
CNRS IRL 2010 CROSSING（法国国家科学研究中心国际联合研究实验室CROSSING）；ENSTA Bretagne（法国国立高等先进技术布列塔尼分校）；Flinders University（弗林德斯大学）；University of South Australia（南澳大利亚大学）；University of Adelaide（阿德莱德大学）
Aeolus Ocean -- A simulation environment for the autonomous COLREG-compliant navigation of Unmanned Surface Vehicles using Deep Reinforcement Learning and Maritime Object Detection
Institute of Informatics & Telecommunications, National Center for Scientific Research “Demokritos”（德谟克利特国家科学研究所信息与通信研究所）
A Robust Simulation Framework for Verification and Validation of Autonomous Maritime Navigation in Adverse Weather and Constrained Environments
Department of Mechanical Engineering, Texas A&M University, College Station, USA（机械工程系，德克萨斯A&M大学，学院站，美国）；Department of Ocean Engineering, Texas A&M University, College Station, USA（海洋工程系，德克萨斯A&M大学，学院站，美国）；American Bureau of Shipping, Spring, TX, USA（美国船舶局，斯普林，德克萨斯州，美国）
"Why This Avoidance Maneuver?" Contrastive Explanations in Human-Supervised Maritime Autonomous Navigation
Department of ICT and Natural Sciences, Norwegian University of Science and Technology (NTNU), Ålesund, Norway（挪威科技大学（NTNU）奥勒松校区信息通信技术与自然科学系）；Department of Ocean Operations and Civil Engineering, Norwegian University of Science and Technology (NTNU), Ålesund, Norway（挪威科技大学（NTNU）奥勒松校区海洋运营与土木工程系）；Department of Science and Mathematics, Volda University College (HVO), Volda, Norway（沃尔达大学学院（HVO）科学与数学系）；Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway（挪威科技大学（NTNU）特隆赫姆校区工程控制论系）
MOANA: Multi-Radar Dataset for Maritime Odometry and Autonomous Navigation Application
Institute of Advanced Machines and Design, SNU, Seoul, S. Korea（先进机械与设计研究所，首尔国立大学）；Dept. of Mechanical Engineering, SNU, Seoul, S. Korea（机械工程系，首尔国立大学）；Seadronix, Seoul, S. Korea（Seadronix公司）；Defence Science and Technology Agency, Singapore（新加坡国防科学与技术局）
