2026
Uncertainty-Aware BIT*: Collision-Free Path Planning for Maritime Autonomous Surface Ships under Target Ship Position Uncertainty
ICRA 2026poster
This paper proposes a BIT*-based collision-free path planning method for remotely operated Maritime Autonomous Surface Ships (MASS) under target ship position uncertainty. In a remote operating environment, the Remote Operating Center (ROC) receives target ship position data from long-range sensors …