├── Analysis_tool ├── Plot_metrics.m ├── alarmsMetrics.m ├── alarmsMetricsNew.m ├── analysis_plot.m ├── calculateBearingAndContact.m ├── calculateBearingAndContactWoerner.m ├── calculateChangeVariables.m ├── calculateManeuverStart.m ├── calculateUMin.m ├── dist_from_bow_to_line.m ├── findNumberOfCloseVesselsAtStart.m ├── getActiveRulesString.m ├── main_analysis_tool.m ├── multi_scenario │ ├── a │ ├── cross_4_obs.mat │ └── cross_4_obs_w_intentions.mat ├── rule13Metrics.m ├── rule14Metrics.m ├── rule15Metrics.m ├── rule16Metric.m ├── rule17Metrics.m ├── rule8Metrics.m ├── safetyMetric.m ├── single_scenario │ ├── a │ ├── crossing_w_sbmpc_obs_on_right_2.mat │ ├── crossing_w_sbmpc_obs_on_right_2_w_intentions.mat │ ├── head_on_w_SBMPC_obs.mat │ ├── head_on_w_SBMPC_obs_w_intentions.mat │ ├── overtaken_by_normal_obs.mat │ ├── overtaken_by_normal_obs_w_intentions.mat │ ├── overtakes_normal_obs.mat │ ├── overtakes_normal_obs_w_boundary_obs.mat │ ├── overtakes_normal_obs_w_boundary_obs_w_intentions.mat │ └── overtakes_normal_obs_w_intentions.mat ├── staticBoundaryObstaclesMetric.m ├── staticCircleObstaclesMetric.m └── typeOfCollisionSituation.m ├── Code explanation.txt ├── PSVparameters.mat ├── README.md ├── SBMPC ├── PSVobstacleShip_class.m ├── PSVparameters.mat ├── PSVvessel_class.m ├── PsiReferenceModel_class.m ├── SBMPC_PSVvessel_class.m ├── SBMPC_computeG.m ├── SBMPC_computeMu.m ├── SBMPC_isCollisionWithBoundaryObstacle.m ├── SBMPC_isCollisionWithCircleObstacle.m ├── SBMPC_waypointGuidance_class.m ├── dist_from_bow_to_line.m ├── modules.slx ├── normalizeAngle.m ├── obstacleShips_class.m ├── obstacleWaypointGuidance_class.m ├── referenceModelPsi.m ├── speedReferenceModel.m ├── uReferenceModel_class.m └── waypointGuidance_class.m ├── SBMPC_intentions ├── PSVobstacleShip_class.m ├── PSVparameters.mat ├── PSVvessel_class.m ├── PsiReferenceModel_class.m ├── SBMPC_PSVvessel_class.m ├── SBMPC_computeG.m ├── SBMPC_isCollisionWithBoundaryObstacle.m ├── SBMPC_isCollisionWithCircleObstacle.m ├── SBMPC_waypointGuidance_class.m ├── dist_from_bow_to_line.m ├── modules_intentions.slx ├── normalizeAngle.m ├── obstacleShips_class.m ├── obstacleWaypointGuidance_class.m ├── referenceModelPsi.m ├── speedReferenceModel.m ├── uReferenceModel_class.m └── waypointGuidance_class.m ├── TEST_SCENARIOS ├── multi_obstacle │ ├── coming_up_from_both_sides_2_ships.m │ ├── cross_3_sbmpc_obs.m │ ├── cross_4_obs.m │ ├── cross_from_left_and_changing_head_on_2_ships.m │ ├── cross_from_right_and_overtaken_2_ships.m │ ├── cross_mixed_w_circle.m │ ├── cross_mixed_w_circle_NO_ROLE.m │ ├── cross_right_and_overtaken.m │ ├── double_overtake_3_obs.m │ ├── head_on_2_ships.m │ ├── head_on_2_ships_mixed.m │ ├── head_on_and_cross_from_left_2_ships.m │ ├── ho_and_2_crossings_3_ships.m │ ├── ho_and_cross_3_obs.m │ ├── ho_cross_4_obs.m │ ├── ho_overtaken_cross_w_boundary_3_obs.m │ ├── ho_overtaken_cross_w_boundary_3_obs_2.m │ ├── ho_overtaken_cross_w_boundary_3_obs_NEW_ROLES.m │ ├── ho_overtakes_sbmpc_crossing_3_mixed_obs.m │ ├── multi_SBMPC_obs_scenario.m │ ├── multi_cross_sideways_normal_obs.m │ ├── multi_sbmpc_and_normal_obs.m │ ├── mutli_cross_normal_obs_1.m │ ├── overtakes_and_ho_2_sbmpc_obs.m │ ├── overtakes_and_ho_2_sbmpc_obs_NO_ROLE_VAR.m │ ├── parameter_initialization.m │ └── plot_explanation.m └── single_obstacle │ ├── circ_test.m │ ├── crossing_w_changing_normal_obs_on_left.m │ ├── crossing_w_changing_normal_obs_on_left_w_circle.m │ ├── crossing_w_changing_normal_obs_on_right.m │ ├── crossing_w_changing_normal_obs_on_right_2.m │ ├── crossing_w_normal_obs_on_left.m │ ├── crossing_w_normal_obs_on_right.m │ ├── crossing_w_sbmpc_obs_on_right.m │ ├── crossing_w_sbmpc_obs_on_right_2.m │ ├── head_on_w_SBMPC_obs.m │ ├── head_on_w_changing_normal_ship.m │ ├── head_on_w_circle_obs_and_intercepting_normal_obs.m │ ├── head_on_w_normal_obs.m │ ├── head_on_w_normal_obs_boundary_obs.m │ ├── head_on_w_normal_obs_circ_obs.m │ ├── head_on_w_normal_obs_circ_obs_2.m │ ├── overtaken_by_SBMPC_obs.m │ ├── overtaken_by_normal_obs.m │ ├── overtakes_SBMPC_obs.m │ ├── overtakes_SBMPC_obs_w_boundary_obs.m │ ├── overtakes_changing_normal_obs.m │ ├── overtakes_normal_obs.m │ ├── overtakes_normal_obs_w_boundary_obs.m │ ├── sideways_cross.m │ ├── sideways_head_on_w_SBMPC_ship.m │ └── static_obstacles.m ├── parameter_initialization.m ├── plot_test.m └── sim_scenarios.m /Analysis_tool/Plot_metrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/Plot_metrics.m -------------------------------------------------------------------------------- /Analysis_tool/alarmsMetrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/alarmsMetrics.m -------------------------------------------------------------------------------- /Analysis_tool/alarmsMetricsNew.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/alarmsMetricsNew.m -------------------------------------------------------------------------------- /Analysis_tool/analysis_plot.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/analysis_plot.m -------------------------------------------------------------------------------- /Analysis_tool/calculateBearingAndContact.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/calculateBearingAndContact.m -------------------------------------------------------------------------------- /Analysis_tool/calculateBearingAndContactWoerner.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/calculateBearingAndContactWoerner.m -------------------------------------------------------------------------------- /Analysis_tool/calculateChangeVariables.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/calculateChangeVariables.m -------------------------------------------------------------------------------- /Analysis_tool/calculateManeuverStart.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/calculateManeuverStart.m -------------------------------------------------------------------------------- /Analysis_tool/calculateUMin.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/calculateUMin.m -------------------------------------------------------------------------------- /Analysis_tool/dist_from_bow_to_line.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/dist_from_bow_to_line.m -------------------------------------------------------------------------------- /Analysis_tool/findNumberOfCloseVesselsAtStart.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/findNumberOfCloseVesselsAtStart.m -------------------------------------------------------------------------------- /Analysis_tool/getActiveRulesString.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/getActiveRulesString.m -------------------------------------------------------------------------------- /Analysis_tool/main_analysis_tool.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/main_analysis_tool.m -------------------------------------------------------------------------------- /Analysis_tool/multi_scenario/a: -------------------------------------------------------------------------------- 1 | a 2 | -------------------------------------------------------------------------------- /Analysis_tool/multi_scenario/cross_4_obs.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/multi_scenario/cross_4_obs.mat -------------------------------------------------------------------------------- /Analysis_tool/multi_scenario/cross_4_obs_w_intentions.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/multi_scenario/cross_4_obs_w_intentions.mat -------------------------------------------------------------------------------- /Analysis_tool/rule13Metrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/rule13Metrics.m -------------------------------------------------------------------------------- /Analysis_tool/rule14Metrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/rule14Metrics.m -------------------------------------------------------------------------------- /Analysis_tool/rule15Metrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/rule15Metrics.m -------------------------------------------------------------------------------- /Analysis_tool/rule16Metric.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/rule16Metric.m -------------------------------------------------------------------------------- /Analysis_tool/rule17Metrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/rule17Metrics.m -------------------------------------------------------------------------------- /Analysis_tool/rule8Metrics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/rule8Metrics.m -------------------------------------------------------------------------------- /Analysis_tool/safetyMetric.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/safetyMetric.m -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/a: -------------------------------------------------------------------------------- 1 | a 2 | -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/crossing_w_sbmpc_obs_on_right_2.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/crossing_w_sbmpc_obs_on_right_2.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/crossing_w_sbmpc_obs_on_right_2_w_intentions.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/crossing_w_sbmpc_obs_on_right_2_w_intentions.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/head_on_w_SBMPC_obs.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/head_on_w_SBMPC_obs.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/head_on_w_SBMPC_obs_w_intentions.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/head_on_w_SBMPC_obs_w_intentions.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/overtaken_by_normal_obs.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/overtaken_by_normal_obs.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/overtaken_by_normal_obs_w_intentions.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/overtaken_by_normal_obs_w_intentions.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/overtakes_normal_obs.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/overtakes_normal_obs.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/overtakes_normal_obs_w_boundary_obs.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/overtakes_normal_obs_w_boundary_obs.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/overtakes_normal_obs_w_boundary_obs_w_intentions.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/overtakes_normal_obs_w_boundary_obs_w_intentions.mat -------------------------------------------------------------------------------- /Analysis_tool/single_scenario/overtakes_normal_obs_w_intentions.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/single_scenario/overtakes_normal_obs_w_intentions.mat -------------------------------------------------------------------------------- /Analysis_tool/staticBoundaryObstaclesMetric.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/staticBoundaryObstaclesMetric.m -------------------------------------------------------------------------------- /Analysis_tool/staticCircleObstaclesMetric.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/staticCircleObstaclesMetric.m -------------------------------------------------------------------------------- /Analysis_tool/typeOfCollisionSituation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Analysis_tool/typeOfCollisionSituation.m -------------------------------------------------------------------------------- /Code explanation.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/Code explanation.txt -------------------------------------------------------------------------------- /PSVparameters.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/PSVparameters.mat -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/README.md -------------------------------------------------------------------------------- /SBMPC/PSVobstacleShip_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/PSVobstacleShip_class.m -------------------------------------------------------------------------------- /SBMPC/PSVparameters.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/PSVparameters.mat -------------------------------------------------------------------------------- /SBMPC/PSVvessel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/PSVvessel_class.m -------------------------------------------------------------------------------- /SBMPC/PsiReferenceModel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/PsiReferenceModel_class.m -------------------------------------------------------------------------------- /SBMPC/SBMPC_PSVvessel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/SBMPC_PSVvessel_class.m -------------------------------------------------------------------------------- /SBMPC/SBMPC_computeG.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/SBMPC_computeG.m -------------------------------------------------------------------------------- /SBMPC/SBMPC_computeMu.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/SBMPC_computeMu.m -------------------------------------------------------------------------------- /SBMPC/SBMPC_isCollisionWithBoundaryObstacle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/SBMPC_isCollisionWithBoundaryObstacle.m -------------------------------------------------------------------------------- /SBMPC/SBMPC_isCollisionWithCircleObstacle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/SBMPC_isCollisionWithCircleObstacle.m -------------------------------------------------------------------------------- /SBMPC/SBMPC_waypointGuidance_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/SBMPC_waypointGuidance_class.m -------------------------------------------------------------------------------- /SBMPC/dist_from_bow_to_line.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/dist_from_bow_to_line.m -------------------------------------------------------------------------------- /SBMPC/modules.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/modules.slx -------------------------------------------------------------------------------- /SBMPC/normalizeAngle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/normalizeAngle.m -------------------------------------------------------------------------------- /SBMPC/obstacleShips_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/obstacleShips_class.m -------------------------------------------------------------------------------- /SBMPC/obstacleWaypointGuidance_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/obstacleWaypointGuidance_class.m -------------------------------------------------------------------------------- /SBMPC/referenceModelPsi.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/referenceModelPsi.m -------------------------------------------------------------------------------- /SBMPC/speedReferenceModel.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/speedReferenceModel.m -------------------------------------------------------------------------------- /SBMPC/uReferenceModel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/uReferenceModel_class.m -------------------------------------------------------------------------------- /SBMPC/waypointGuidance_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC/waypointGuidance_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/PSVobstacleShip_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/PSVobstacleShip_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/PSVparameters.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/PSVparameters.mat -------------------------------------------------------------------------------- /SBMPC_intentions/PSVvessel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/PSVvessel_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/PsiReferenceModel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/PsiReferenceModel_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/SBMPC_PSVvessel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/SBMPC_PSVvessel_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/SBMPC_computeG.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/SBMPC_computeG.m -------------------------------------------------------------------------------- /SBMPC_intentions/SBMPC_isCollisionWithBoundaryObstacle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/SBMPC_isCollisionWithBoundaryObstacle.m -------------------------------------------------------------------------------- /SBMPC_intentions/SBMPC_isCollisionWithCircleObstacle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/SBMPC_isCollisionWithCircleObstacle.m -------------------------------------------------------------------------------- /SBMPC_intentions/SBMPC_waypointGuidance_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/SBMPC_waypointGuidance_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/dist_from_bow_to_line.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/dist_from_bow_to_line.m -------------------------------------------------------------------------------- /SBMPC_intentions/modules_intentions.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/modules_intentions.slx -------------------------------------------------------------------------------- /SBMPC_intentions/normalizeAngle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/normalizeAngle.m -------------------------------------------------------------------------------- /SBMPC_intentions/obstacleShips_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/obstacleShips_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/obstacleWaypointGuidance_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/obstacleWaypointGuidance_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/referenceModelPsi.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/referenceModelPsi.m -------------------------------------------------------------------------------- /SBMPC_intentions/speedReferenceModel.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/speedReferenceModel.m -------------------------------------------------------------------------------- /SBMPC_intentions/uReferenceModel_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/uReferenceModel_class.m -------------------------------------------------------------------------------- /SBMPC_intentions/waypointGuidance_class.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/SBMPC_intentions/waypointGuidance_class.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/coming_up_from_both_sides_2_ships.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/coming_up_from_both_sides_2_ships.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_3_sbmpc_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_3_sbmpc_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_4_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_4_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_from_left_and_changing_head_on_2_ships.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_from_left_and_changing_head_on_2_ships.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_from_right_and_overtaken_2_ships.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_from_right_and_overtaken_2_ships.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_mixed_w_circle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_mixed_w_circle.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_mixed_w_circle_NO_ROLE.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_mixed_w_circle_NO_ROLE.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/cross_right_and_overtaken.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/cross_right_and_overtaken.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/double_overtake_3_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/double_overtake_3_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/head_on_2_ships.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/head_on_2_ships.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/head_on_2_ships_mixed.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/head_on_2_ships_mixed.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/head_on_and_cross_from_left_2_ships.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/head_on_and_cross_from_left_2_ships.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_and_2_crossings_3_ships.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_and_2_crossings_3_ships.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_and_cross_3_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_and_cross_3_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_cross_4_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_cross_4_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_overtaken_cross_w_boundary_3_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_overtaken_cross_w_boundary_3_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_overtaken_cross_w_boundary_3_obs_2.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_overtaken_cross_w_boundary_3_obs_2.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_overtaken_cross_w_boundary_3_obs_NEW_ROLES.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_overtaken_cross_w_boundary_3_obs_NEW_ROLES.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/ho_overtakes_sbmpc_crossing_3_mixed_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/ho_overtakes_sbmpc_crossing_3_mixed_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/multi_SBMPC_obs_scenario.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/multi_SBMPC_obs_scenario.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/multi_cross_sideways_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/multi_cross_sideways_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/multi_sbmpc_and_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/multi_sbmpc_and_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/mutli_cross_normal_obs_1.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/mutli_cross_normal_obs_1.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/overtakes_and_ho_2_sbmpc_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/overtakes_and_ho_2_sbmpc_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/overtakes_and_ho_2_sbmpc_obs_NO_ROLE_VAR.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/overtakes_and_ho_2_sbmpc_obs_NO_ROLE_VAR.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/parameter_initialization.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/parameter_initialization.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/multi_obstacle/plot_explanation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/multi_obstacle/plot_explanation.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/circ_test.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/circ_test.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_left.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_left.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_left_w_circle.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_left_w_circle.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_right.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_right.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_right_2.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_changing_normal_obs_on_right_2.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_normal_obs_on_left.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_normal_obs_on_left.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_normal_obs_on_right.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_normal_obs_on_right.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_sbmpc_obs_on_right.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_sbmpc_obs_on_right.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/crossing_w_sbmpc_obs_on_right_2.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/crossing_w_sbmpc_obs_on_right_2.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_SBMPC_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_SBMPC_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_changing_normal_ship.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_changing_normal_ship.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_circle_obs_and_intercepting_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_circle_obs_and_intercepting_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs_boundary_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs_boundary_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs_circ_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs_circ_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs_circ_obs_2.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/head_on_w_normal_obs_circ_obs_2.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtaken_by_SBMPC_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtaken_by_SBMPC_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtaken_by_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtaken_by_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtakes_SBMPC_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtakes_SBMPC_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtakes_SBMPC_obs_w_boundary_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtakes_SBMPC_obs_w_boundary_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtakes_changing_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtakes_changing_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtakes_normal_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtakes_normal_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/overtakes_normal_obs_w_boundary_obs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/overtakes_normal_obs_w_boundary_obs.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/sideways_cross.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/sideways_cross.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/sideways_head_on_w_SBMPC_ship.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/sideways_head_on_w_SBMPC_ship.m -------------------------------------------------------------------------------- /TEST_SCENARIOS/single_obstacle/static_obstacles.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/TEST_SCENARIOS/single_obstacle/static_obstacles.m -------------------------------------------------------------------------------- /parameter_initialization.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/parameter_initialization.m -------------------------------------------------------------------------------- /plot_test.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/plot_test.m -------------------------------------------------------------------------------- /sim_scenarios.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/krikjers/Master_thesis/HEAD/sim_scenarios.m --------------------------------------------------------------------------------