A multi-ship following model for icebreaker convoy operations in ice-covered waters

Most vessels cannot safely sail in areas with sea ice. In the Northern Baltic Sea area, the presence of sea ice often requires icebreaking ships to open up ice-covered areas so merchant vessels can proceed to their destinations. In this environment there is an increasing number of ships. With growing transport volumes in sea ice environments, icebreaker operations such as convoys have become increasingly important to ensure navigation safety....