Autonomous decision-making scheme for multi-ship collision avoidance with iterative observation and inference

A novel scheme is proposed for the distributed multi-ship collision avoidance (CA) problem with consideration of the autonomous, dynamic nature of the real circumstance. All the ships in the envisioned scenario cannot share their decisions or motivation, and they make decisions based on the limited observable information. Each ship is assumed to have a high-layer intention to guide the CA decision, which is called the collision avoidance logic...