Yaqub Aris Prabowo

Yaqub is a postdoctoral researcher in the Control, Robotics and Embodied AI (CREA) Group at the Technical University of Denmark (DTU), focusing on autonomous navigation and maritime safety. His work on the AI-Navigator Project (led by Roberto Galeazzi) involves developing methods to quantify collision and grounding risks, generate safe trajectories in complex maritime scenarios, and model navigators' behavior to enhance safe navigation through inverse optimization problems and machine learning. He holds a PhD in robotics, where he researched multi-agent systems for tasks like source localization, area exploration and coverage control. His research interests include robotics, optimal control and machine learning.

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Presentation

Good seamanship trajectory planner for autonomous ships

In various complex scenarios not explicitly addressed in the COLREGs, such as multivessel encounters in confined waters, navigators must depend on good seamanship to ensure safety. This presentation introduces a methodology for generating trajectories for autonomous ships that prioritizes safety over efficiency while adhering to kinodynamic constraints. Collision and grounding risks, quantified using a dynamic ship domain, are used as safety metrics. The method dynamically regenerates new trajectories to account for the unexpected movements of target vessels. The algorithm is evaluated in challenging scenarios that highlight the importance of good seamanship, demonstrating its potential to enhance autonomous ship navigation in complex environments.