The problem of cooperative divergence of uncrewed vessels

The article deals with the problem of preventing ship collisions while at sea. When crewless ships meet sea, it is necessary to ensure their safe separation. A formalization setting divergence a group given. Vessel subsets in various states are determined, and transitions from one state another described. lack mutual understanding between agents controlling unaccompanied considered. counter vessel may not perform manoeuvres that agent uncrewed expects. An analysis made reasons contributing this. detection inadequate behaviour or its violation manoeuvring arrangements offered. criteria for detecting such agent's actions prevent collision this case