A Spatially and Temporally Attentive Joint Trajectory Prediction Framework for Modeling Vessel Intent
Proceedings of the 2nd Conference on Learning for Dynamics and Control, PMLR 120:318-327, 2020.
Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on the self and vice-versa well into the future. In manned vessels, this is achieved by constant communication between people on board, nautical experience, and audio and visual signals. In this paper we propose a deep neural network based architecture to predict intent of neighboring vessels into the future for an unmanned vessel solely based on positional data.