Automatic berthing is at the top level of ship autonomy; it unwise and hasty to hand over control initiative controller algorithm without foundation maneuvering model. The maneuver model predicts responses steerage external disturbances, provides a for algorithm. modular MMG widely adopted in maneuverability studies. However, there are two ambiguous questions on modeling: What similarities diff...

Autonomous ship technology, which includes real-time monitoring, satellite communication, and automatic navigation, is rapidly advancing. Despite significant research on single unmanned ships, there a lack of studies complex tasks, such as berthing using swarm autonomous tugboats. This review article provides an overview various projects related to tugboats for discusses the trends in required ...

The berth allocation problem (BAP), which de nes a processing interval and a berth at the quay wall for each ship to be (un-)loaded, is an essential decision problem for e ciently operating a container port. In this paper we integrate mobile quay walls into the BAP. Mobile quay walls are huge propelled oating platforms, which encase ships moored at the immobile quay and provide additional quay ...

In this paper, we study the container stacking problem (CSP) which is one of the most important problems in marine terminal. An optimisation model is developed in order to determine the optimal storage strategy for various container-handling schedules. The objective of the model is to minimise the distance between vessel berthing location and the storage positions of containers. The CSP is solv...