Tactical Planner Trajectory Regulation Layer Physical Layer Controls Measurements

Increasing traac on highways and in the air has in the recent years motivated the design of hierarchical hybrid control systems. In this paper we will propose a hierarchical hybrid control system for the control of traac on sea, a Sea Traac Management System (STMS). The motivation is to reduce delays and improve the eeciency and safety in increasingly overcrowded harbors, busy straits and narrow areas on sea. A controller unit on land plans the whole traac scenario, and interacts with advanced (hybrid) autopilots placed on each ship. A system as described above should take advantage of the new available technology, such as satellite based navigation (GPS-systems), digital sea maps, faster and more powerful computers, and more and better actuators.