Jiaye Gong

Rule-Constrained Hierarchical Fusion Path Planning for Unmanned Surface Vehicles

Path planning for unmanned surface vehicles in dynamic waters requires coordination of global routing, collision avoidance, maneuverability, and maritime encounter rules. This study develops a rule-constrained hierarchical framework to integrate these requirements. The global pla...

A risk-aware multimodal temporal reinforcement learning approach for collision avoidance of unmanned surface vehicles in multi-dynamic-obstacle scenarios

This study addresses autonomous collision avoidance for unmanned surface vehicles in multi-dynamic-obstacle maritime scenarios, where the number of obstacles varies, risk interactions are complex, and dynamic environmental evolution is difficult to exploit effectively. A Risk-Awa...