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Port, berthing & docking automation

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01crossref2026-07-17Marko Perkovič, Peter Vidmar, Blaž LuinDOI ↗ (opens in a new tab)

Smart Ports and Maritime Simulators in the Era of Maritime Autonomous Surface Ships (opens in a new tab)

The paper critiques the assumption that Maritime Autonomous Surface Ships (MASS) and port digitalization alone solve maritime transport challenges, arguing risks arise from systemic factors like vessel size, infrastructure limits, and organizational complexity. It emphasizes MASS as part of a broader socio-technical system, requiring smart ports, traffic management, and maritime simulators for safe coexistence with manned vessels. The role of simulators as cyber-physical test beds for validating operations, decision-support systems, and human-automation interaction is highlighted. The authors stress that successful MASS integration depends on managing complexity through predictive coordination, simulation-based validation, and regulatory adaptations, rather than just increasing autonomy.

02crossref2026-04-17Chien-Chang Chou, Miao-Ying Chen, Ren-Jun Huang, Hsien‐Pin Hsu +2 moreDOI ↗ (opens in a new tab)

Integrating Qualitative AHP and Quantitative AIS to Berth Location Selection for Maritime Autonomous Surface Ship Mooring at the Kaohsiung Port (opens in a new tab)

This study evaluates berth locations at Kaohsiung Port for mooring Maritime Autonomous Surface Ships (MASS) by combining expert input with a two-step method: the qualitative Analytic Hierarchy Process (AHP) and quantitative Automatic Identification System (AIS). Researchers identified three key assessment aspects, nine criteria, and three potential berth alternatives. The analysis determined that the 7th Container Centre is the most suitable berth for MASS mooring. Findings aim to guide port authorities and operators in transitioning to intelligent port infrastructure.

03crossref2026-06-19Tymoteusz Miller, Irmina DurlikDOI ↗ (opens in a new tab)

How Far from the Shore? Federated Maritime Intelligence for Autonomous Ship and Harbor Maneuvering (opens in a new tab)

This paper reviews research on autonomous ship and harbor maneuvering from 2015 to 2026, covering control systems, AI, sensor fusion, digital twins, and logistics. It introduces a seven-layer cyber-physical taxonomy and a maturity model to assess integration levels, from isolated vessel autonomy to fully federated systems. While progress has been made in individual areas like control and perception, gaps remain in cross-layer coordination, cybersecurity, and regulatory compliance. The authors propose a Federated Maritime Cyber-Physical Architecture to improve interoperability and resilience in autonomous harbor operations.

04crossref2026-03-30Van Truong Nguyen, Xuan Long Nguyen, Dang Thai Vu, Hanh Hoang Thi HongDOI ↗ (opens in a new tab)

Legal Challenges of Maritime Autonomous Surface Ships: A Comparative Study of Neighboring States and Implications for Vietnam (opens in a new tab)

The study examines legal challenges posed by Maritime Autonomous Surface Ships (MASS), highlighting benefits and unresolved issues. It reviews regional policies, including standards, test areas, and sandboxes, from neighboring countries, while assessing the adequacy of international conventions. Recommendations are provided for Vietnam and other ASEAN nations to expedite MASS regulation development and testing strategies. The paper also stresses the importance of enhanced regional cooperation in ASEAN.

05crossref2026-06-25Afifah Nurrosyidah, Pandu Dwi Luhur Pambudi, Ashari Fitra RachmannullahDOI ↗ (opens in a new tab)

A Smart Port Readiness Index in Southeast Asia to support autonomous ship operations (opens in a new tab)

This study created a Smart Port Readiness Index (SPRI) to evaluate port preparedness for Maritime Autonomous Surface Ships (MASS) in Indonesia, Malaysia, Thailand, Singapore, and the Philippines. The index measured six dimensions, including technology, cybersecurity, and regulations, using policy text mining and a simulation framework. Singapore ranked highest in readiness, while Indonesia, Thailand, and the Philippines showed low capacity for MASS operations. The findings suggest prioritizing investments in autonomous technologies and cybersecurity to improve port readiness.

06openalex2026-10-09Luís Rosa, Francisco António Borges, Tiago Pinho, Teresa BatistaDOI ↗ (opens in a new tab)

Modelling the Potential Environmental and Operational Effects of Autonomous Ship Just-in-Time Arrivals: A Scenario-Based Analysis (opens in a new tab)

This study examines how combining autonomous ships with Just-in-Time (JIT) arrival systems could improve maritime logistics by reducing fuel use and emissions. Analyzing 882 voyages at Portugal’s Port of Sines, it found JIT with autonomous ships cut fuel consumption by 4.92% and greenhouse gas emissions by 4.90%, while improving arrival punctuality by about 1.5 hours. Early arrivals saw the biggest benefits, with fuel use dropping 36.86% and emissions by over 3,180 tCO₂, but late arrivals faced higher fuel costs. Successful implementation requires real-time data, digital infrastructure, and stakeholder collaboration.

07헤럴드경제2026-10-28

South Korea aims to lead global autonomous-ship market by 2035 with AI-powered seas and ports (opens in a new tab)

South Korea plans to dominate the global autonomous-ship market by 2035 by integrating AI into maritime operations and port systems. The initiative focuses on developing AI-powered technologies for unmanned vessels and smart port infrastructure. The government and industry partners are collaborating to accelerate innovation in this sector. The goal is to enhance efficiency and safety in maritime transport.

08crossref2026-04-14Chen-Wei Chen, Jiahao Yin, Jialin Lu, Chin-Yin Chen +2 moreDOI ↗ (opens in a new tab)

Dynamic Trajectory Tracking and Autonomous Berthing Control of a Container Ship Based on Four-Quadrant Hydrodynamics (opens in a new tab)

This paper introduces an autonomous berthing control system for large container ships, addressing nonlinear hydrodynamics and maneuvering challenges in restricted waters. It uses a four-quadrant propeller model within an improved MMG framework and a dynamic line-of-sight guidance system paired with PD/PI controllers. Validation against S-175 ship data showed errors under 15%, while simulations for the B-573 ship at Yangshan Port demonstrated a 62% reduction in trajectory error under strong currents. The system achieved smooth deceleration from 6.4 m/s to a full stop in 588 seconds, confirming its feasibility in complex maritime conditions.

09뉴스핌2026-10-28

Ministry of Oceans and Fisheries challenges for global autonomous ship leadership, introducing AI in ports to increase productivity by 30% (opens in a new tab)

South Korea’s Ministry of Oceans and Fisheries aims to lead globally in autonomous ship technology. It plans to integrate AI in ports to boost productivity by 30%. The initiative seeks to enhance efficiency and competitiveness in maritime operations. No specific methods or outcomes beyond the productivity target are detailed.

10openalex2026-09-29Yiren Wang, Wang Shengzheng, Wei Liu, Xinwei Lin +4 moreDOI ↗ (opens in a new tab)

Hierarchical robust control for autonomous berthing of MASS under dynamic switching of multiple propulsion modes (opens in a new tab)

This paper introduces a hierarchical robust control system for autonomous berthing of Maritime Autonomous Surface Ships (MASS) to handle dynamic propulsion-mode switching and environmental disturbances. The method includes a reverse spatial-temporal planning algorithm, a decoupled adaptive guidance law, and a dynamic-truncation SQP allocation strategy to improve thrust management and actuator transitions. Testing under strong wind-current conditions (Beaufort force 7) demonstrated sub-meter berthing accuracy and reduced yaw-rate deviation by 13.8% compared to conventional methods. The system also prevented collisions with the shoreline during sudden disturbances.

11openalex2026-09-13Yuqing Lin, Youngroung KimDOI ↗ (opens in a new tab)

Language-Grounded Semantic Target Navigation for Autonomous Surface Vehicles (opens in a new tab)

This study introduces SGNav, a framework enabling Autonomous Surface Vehicles (ASVs) to navigate toward targets described in natural language rather than predefined coordinates. The system combines semantic grounding, harbour-specific filtering, and CLIP-based verification to interpret descriptions, filter distractions, and execute control policies. Experiments in simulated port environments showed success rates of 90–97% across tasks, with high semantic accuracy and low error rates. Ablation studies confirmed the critical role of semantic grounding and filtering for reliable performance.

12crossref2026-04-20Chunyu Song, Xiaomin Guo, Jianghua SuiDOI ↗ (opens in a new tab)

Autonomous berthing path tracking of a 4-DOF ship under nonlinear model predictive control (opens in a new tab)

This study presents a nonlinear model predictive control (NMPC) method for autonomous ship berthing, using a 4-DOF (sway, surge, yaw, roll) dynamic model. The approach integrates moving horizon estimation (MHE) and real-time trajectory optimization to adapt to environmental changes. Simulations in the Port of Hamburg showed track errors under 2 meters and berthing position errors of just 0.3 meters. The method outperforms traditional PID and NMPC controls in rough sea conditions, improving reliability for unmanned ships.

13openalex2026-06-24Hongrui Lu, Y Zhang, Shaobo Wang, Haoze Zhang +3 moreDOI ↗ (opens in a new tab)

A port navigation perception method via shipborne camera-guided light detection and ranging fusion (opens in a new tab)

This study introduces SLC-Fusion, a multimodal perception system for Maritime Autonomous Surface Ships (MASS) combining shipborne LiDAR, cameras, IMU, and RTK data. It improves sensor calibration, motion compensation, and LiDAR denoising while using AI (YOLO 11s-seg) and spatial clustering to detect and localize port targets in 3D. Real-world tests show high accuracy with a minimum ranging error of 0.07 m, a mean IoU of 67.0%, and fast processing times (5.9 ms for images, 4.6 ms for point clouds). The method also establishes a port navigation perception dataset.

14Total Croatia2026-06-16

Rijeka Becomes Croatia’s Centre for Autonomous Vessels and Maritime Innovation (opens in a new tab)

Rijeka has been designated as Croatia’s hub for autonomous vessels and maritime innovation. The city will focus on developing and testing self-navigating ships and advanced maritime technologies. This initiative aims to position Rijeka as a leader in the future of smart shipping. The project is expected to drive economic growth and technological advancement in the region.

16openalex2026-07-03Siddiq Bin Salam, Sajjad Waqar AhmadDOI ↗ (opens in a new tab)

A Multi-Vendor 5G Private Network Framework for Autonomous Port Operations: Realizing Saudi Vision 2030 Smart Logistics Corridors (opens in a new tab)

This paper presents the Hybrid Multi-Vendor Private 5G Blueprint (HMP-5G), a framework designed for Saudi Arabia’s autonomous port operations under Vision 2030. It addresses limitations of current connectivity by ensuring low-latency, high-device-density support for automated vehicles, cranes, and container tracking through a three-layer system: Radio Access, Slicing, and Interoperability. The framework uses a Standalone Non-Public Network (SNPN) with on-site data processing, hard slice isolation via physical resource blocks, and multi-vendor compatibility (Huawei, Ericsson, Nokia) via O-RAN standards. Performance aligns with 3GPP benchmarks, supporting Saudi’s logistics and sustainability goals.

17Yahoo Tech2026-05-18

This autonomous ship mooring system really sucks – and that’s a good thing (opens in a new tab)

An autonomous ship mooring system uses suction technology to securely attach vessels to docks. The system’s strong vacuum grip improves stability and reduces manual labor. Designed for efficiency, it enhances safety by minimizing human error during docking. Its effectiveness lies in its ability to "suck" and hold ships firmly in place.

18매일신문2026-10-28

Fully unmanned autonomous vessel by 2032... AI applied to ports and fishing grounds (opens in a new tab)

A South Korean initiative aims to develop fully unmanned autonomous vessels by 2032. The project will integrate AI into ports and fishing grounds to enhance operations. The focus includes improving navigation, safety, and efficiency in maritime activities. The plan reflects broader efforts to modernize the shipping and fishing industries.

19데일리로그2026-10-28

Ministry of Oceans and Fisheries to boost port productivity by 30% with AI, challenging for global autonomous ship leadership (opens in a new tab)

South Korea’s Ministry of Oceans and Fisheries plans to increase port productivity by 30% using AI technology. The initiative also aims to position the country as a global leader in autonomous ship operations. The effort focuses on integrating AI-driven solutions to enhance efficiency in maritime logistics. No specific implementation timeline or methods were detailed in the announcement.

20Maritime Journal2026-06-17

Autonomous vessel completes Rotterdam port trial (opens in a new tab)

An autonomous vessel successfully completed a trial in Rotterdam port in June 2026. The test demonstrated the ship's ability to navigate and operate without human intervention. The trial marks a step forward in the development of autonomous shipping technology. No further details on performance or outcomes were provided.

21comparethecloud.net2026-10-05

The first autonomous ships that matter to Britain may never cross an ocean (opens in a new tab)

Britain should prioritize autonomous technology investments in harbor operations over ocean crossings, focusing on defined transport tasks like container transfers between terminals. Singapore’s autonomous feeder vessel program serves as a model, emphasizing reliability, safety, and integration with existing workflows rather than immediate cost savings. British suppliers could contribute by addressing specific challenges such as degraded visibility, cybersecurity, or terminal integration, but must clarify responsibilities and boundaries in contracts. Regulatory approval in the UK depends on vessel size, operating area, and use, requiring early engagement with the Maritime and Coastguard Agency to establish a clear pathway.

22openalex2026-06-01Klaas De Hert, Marcella Castells-Sanabra, Clara Borén, Cristina Campos +2 moreDOI ↗ (opens in a new tab)

Preparing MASS Operators for Port and Short-Sea Operations: Linking Industry Experience with Training Design (opens in a new tab)

This study examines training needs for shore-based Remote Operation Centre (ROC) operators managing Maritime Autonomous Surface Ships (MASS) in ports and short-sea settings. Interviews with ROC providers highlight key competences like estuarial navigation, system understanding, screen-based situational awareness, and structured communication, alongside soft skills such as teamwork and stress management. While existing training frameworks align with core competences, they underemphasize context-specific challenges like multi-vessel coordination in confined waters. The findings advocate for tailored MET curricula integrating simulator-based training and scenario development for port and short-sea operations.

23openalex2026-10-10Hongrui LuDOI ↗ (opens in a new tab)

"Ship3DNet-ShipNP" (opens in a new tab)

The paper introduces *Ship3DNet-ShipNP*, a multimodal dataset designed for maritime autonomous surface ships (MASS) to improve navigation in complex port environments. The *ShipNP* dataset includes fully annotated and synchronized spatiotemporal data to evaluate the proposed *Ship3DNet* model. Port traffic complexity is divided into three levels based on ship density: simple (≤5 ships), normal (6–10 ships), and complex (>10 ships). Navigation tasks are categorized as either berthing or underway.

24TipRanks2026-06-06

Saronic Technologies Showcases Autonomous Vessel for U.S. Port Security Use Cases (opens in a new tab)

Saronic Technologies demonstrated an autonomous vessel designed for U.S. port security applications. The showcase highlighted its potential use in monitoring and protecting port infrastructure. The technology aims to enhance maritime security through unmanned operations. No specific technical details or deployment timelines were provided.

25openalex2026-08-25Liantin Gao, Juan Lu, Yuefei Wang, Qiang Yan +5 moreDOI ↗ (opens in a new tab)

Development of a controller for autonomous berthing and unberthing of intelligent ships with large-angle attitude maneuvering based on Lyapunov method (opens in a new tab)

This paper presents a control framework for autonomous berthing and unberthing of a 5000-ton inland cargo ship, addressing challenges like environmental disturbances, precise attitude control, and energy efficiency. A Lyapunov-based controller with time-varying gains and sliding-mode terms stabilizes roll, pitch, and yaw within 10–15 seconds in simulations under strong wind, wave, and current disturbances. The system integrates SLAM mapping, visual recognition, and dynamic obstacle avoidance to generate safe, smooth, and energy-optimal trajectories. Compared to traditional methods, it reduces control energy consumption while providing theoretical support for real-world applications.

26openalex2026-09-17Mitja KovačDOI ↗ (opens in a new tab)

Maritime Shipping (opens in a new tab)

This paper explores the legal, economic, and regulatory effects of AI in maritime shipping. It outlines AI’s benefits for navigation, logistics, maintenance, and port operations but notes risks like data quality, cybersecurity, and liability issues. The study focuses on smart ports, autonomous vessels, and responsibility allocation among stakeholders in AI-related incidents. It proposes regulatory frameworks to support innovation while ensuring safety and legal clarity.

27openalex2026-10-03Neng Sri Komala, Nur Zaeni, Uti Indrawati LestariDOI ↗ (opens in a new tab)

Ship Safety Analysis in Indonesia: Determining Crew Competence, Port Digitalization and Ship Technology Innovation (opens in a new tab)

This study examines ship safety in Indonesia by analyzing crew competence, port digitalization, and ship technology innovation. Using a systematic literature review of 50 articles (2021–2026), it finds these factors significantly improve safety outcomes like seaworthiness and risk control. The research relies on qualitative methods, including data reduction and thematic analysis. Limitations include the absence of direct quantitative statistical validation.

28Smart Maritime Network2026-11-06

DP World to collaborate on autonomous logistics systems (opens in a new tab)

DP World will partner with SHIFFT, a Dubai Future Foundation-led joint venture, to develop autonomous logistics systems for ports and industrial zones, starting at Jebel Ali Port. The collaboration aims to integrate autonomous vehicles into operations, focusing on safety, fleet management, traffic control, and digital twin technologies across DP World’s global network of over 60 ports. The initiative, supported by autonomous vehicle firm Oxa, seeks to enhance supply chain reliability and workforce skills while improving operational efficiency. Dubai’s Research, Development and Innovation Programme will oversee the project, targeting scalable solutions for global deployment.

29openalex2026-10-17Lifei Song, Wenyu Yu, Liwen Bai, Xiang Huang +2 moreDOI ↗ (opens in a new tab)

Cross-modal semantic–geometric filtering for USV LiDAR SLAM in dynamic water-surface environments (opens in a new tab)

This paper introduces a cross-modal semantic–geometric filtering method for LiDAR SLAM in dynamic water-surface environments, addressing issues like moving vessels and reflection-induced noise in USV mapping. The approach combines visual semantic data with LiDAR point confidence, using temporal association and adaptive attenuation to filter out interference while preserving static structures. Testing in a port-basin sequence showed an 87.18% reduction in vessel-related noise and a 77.98% decrease in reflection-affected points, alongside a 24.28% improvement in pose accuracy. The method balances noise suppression and structural preservation, enhancing trajectory consistency in dynamic conditions.

30crossref2026-10-08V. I. UzorDOI ↗ (opens in a new tab)

Contribution of Ship Berthing to Surface Water Pollution in Selected Harbours in Rivers State (opens in a new tab)

This study examined how ship berthing affects water pollution in five ports in Rivers State, Nigeria, using physicochemical and biological measurements over three months. Water samples showed high levels of pollutants, including Biochemical Oxygen Demand (36.9–48.6 mg/L), Chemical Oxygen Demand (151.6–186.4 mg/L), and coliform bacteria (1,510–2,860 MPN/100 mL), all exceeding regulatory limits. Pollution varied significantly between ports, with ballast water also contributing to contamination. The findings highlight the need for stricter regulations and better harbor management to reduce pollution from shipping activities.

31crossref2026-09-14Jarosław Szrek, Konrad Siudziński, Artur MuraszkowskiDOI ↗ (opens in a new tab)

A Terminal Navigation Approach for Autonomous Docking with Transport Trolleys Using Laser Scanning (opens in a new tab)

This paper introduces a cost-effective method for autonomous mobile robots to locate and dock with transport trolleys using a single LiDAR sensor. The system identifies trolley legs within predefined detection zones and enables docking without requiring precise robot positioning, utilizing an ESP32-based control system and ROS framework. Experiments confirmed successful trolley detection and docking when the robot was positioned in front of the target under controlled conditions. The approach aims to improve automated transport systems in warehouses and manufacturing facilities.

32Marine Technology News2026-09-23

Autonomous Vehicles Solve (and Create) Problems for Ports (opens in a new tab)

Autonomous vehicles (AVs) in ports improve efficiency and reduce labor costs but also introduce new challenges. They streamline cargo handling and cut operational delays, yet raise concerns about cybersecurity risks and job displacement. Ports adopting AVs must balance technological benefits with infrastructure and regulatory adjustments. The shift may also require workforce retraining to address changing skill demands.

33연합뉴스2026-10-28

Fully autonomous ships and robotic ports… Government’s 'Marine and Fisheries AX' strategy (opens in a new tab)

The South Korean government announced its "Marine and Fisheries AX" strategy, focusing on fully autonomous ships and robotic ports. The initiative aims to modernize maritime and fisheries infrastructure using advanced automation and robotics. The plan seeks to enhance efficiency and competitiveness in the sector. No specific implementation timeline or technical details were provided.

34해사신문2026-10-26

Ministry of Oceans and Fisheries expands maritime cooperation with Norway and India, discusses autonomous navigation and port development (opens in a new tab)

The Ministry of Oceans and Fisheries expanded maritime cooperation with Norway and India in October 2026. Discussions focused on advancing autonomous navigation technology and port development initiatives. The collaboration aims to strengthen partnerships in key maritime sectors. No specific outcomes or agreements were detailed in the announcement.

35Digital Ship2026-10-22

Singapore and China expand maritime partnership on green fuels and smart ships (opens in a new tab)

Singapore and China have expanded their maritime partnership to focus on green fuels and smart ship technologies. The collaboration aims to advance sustainable shipping solutions and digital innovations in the maritime sector. Both nations will work together on research, development, and implementation of these initiatives. The agreement was announced in October 2026.

36crossref2026-09-09Xinyi Wang, Kun Liu, Shuai ZongDOI ↗ (opens in a new tab)

Conditional Kriging prediction of ship–ship hydrodynamic responses during non-parallel berthing (opens in a new tab)

This study examines how berthing angle, water depth, and lateral spacing affect hydrodynamic forces and moments on two ships (KVLCC2 and Aframax) during non-parallel berthing. Eighteen Kriging models were developed and tested across three parameter groups, with performance varying by response type—CaseA showed the highest accuracy (R² ~0.96–1.00), while CaseH and CaseY had mixed results, including some negative R² values. The findings highlight that Kriging model reliability depends on specific conditions and responses, limiting their use to validated scenarios. Water depth effects were analyzed within moderate-to-large depth-to-draft ratios, not shallow-water conditions.

37openalex2026-08-17Jianqiang Shi, Sicheng Guo, Zhaokun Wang, Han Liang +3 moreDOI ↗ (opens in a new tab)

Auto-Berthing Control of Marine Vessels Under Cyber Attacks (opens in a new tab)

This paper presents an adaptive neural-network-based control method for unmanned surface vessels during automatic berthing under cyber attacks. It addresses unknown vessel dynamics, external disturbances, measurement noise, and cyber attacks using a unified nonlinear measurement model to handle signal distortions. The approach reconstructs vessel heading from unaffected yaw-rate data, employs neural networks to approximate dynamics, and uses adaptive laws to estimate uncertainties. Simulations demonstrate the method's effectiveness in maintaining bounded signals and reducing berthing tracking errors despite time-varying attacks and disturbances.

38openalex2026-08-24Zhengjiao Qi, Yukuan Wang, Jingxian Liu, Jing QuDOI ↗ (opens in a new tab)

Wind-constrained Pareto multi-objective reinforcement learning for low-carbon vessel traffic organization in port approach channels (opens in a new tab)

This study introduces a wind-constrained framework for vessel traffic organization in port approach channels, using a Pareto-based multi-objective reinforcement learning algorithm (Pareto MO-PPO). The method incorporates real-time wind data to model propulsion, CO₂ emissions, and engine-load limits, enabling dynamic speed adjustments. Tested at Caofeidian Port, the approach reduced emissions by 11.41% compared to first-come, first-served scheduling, with a 7.49% increase in system time. The framework offers port operators multiple policy options to balance efficiency and emissions.

39crossref2026-09-07Xinyu Zhang, Hongxing Zheng, Junjie NiDOI ↗ (opens in a new tab)

Integrated Rescheduling Optimization of Vessel Sequencing and Berth Allocation Under Vessel Delay Impacts (opens in a new tab)

This study proposes an integrated rescheduling model for vessel sequencing and berth allocation to address disruptions caused by vessel delays at ports with one-way channels. It introduces a rolling decision-making mechanism and strategies like berth reallocation, Normal Berth Shifting (NBS), Cross-Terminal Berth Shifting (CTBS), and Cargo Discharge-Only (CDO) to minimize rescheduling costs. An integer linear programming model and an adaptive large neighborhood search (ALNS) algorithm optimize vessel sequencing and berth use. Case studies and sensitivity analysis confirm the framework’s effectiveness in reducing delay impacts.

40openalex2026-04-03大月 智史, S. Otsuki, 八田 直樹, N. Hatta +7 more

Hierarchical Vessel Safe Operation in A Port through CBF, MPC and RRT-like Spatiotemporal Path Planning (opens in a new tab)

This paper presents a hierarchical framework for ensuring safe vessel operations in ports using Control Barrier Functions (CBF), Model Predictive Control (MPC), and a Rapidly-exploring Random Tree (RRT)-like spatiotemporal path planning method. The approach integrates real-time collision avoidance and optimal trajectory planning to enhance navigation safety. The authors demonstrate the system's effectiveness through simulations and experiments in port environments. The proposed method aims to reduce risks and improve operational efficiency for autonomous or semi-autonomous vessels.

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