Dynamic Semantic World Models and Increased Situational Awareness for Highly Automated Inland Waterway Transport.

Automated surface vessels must integrate many tasks and motions at the same time. Moreover, vessels as well as monitoring and control services need to react to physical disturbances, to dynamically allocate software resources available within a particular environment, and to communicate with various other actors in particular navigation and traffic situations. In this work, the responsibility for the situational awareness is given to a mediator that decides : 1) to assess the impact of the actual physical environment on the quality and performance of the ongoing task executions; 2) to make sure these tasks satisfy the system requirements; and 3) to be robust against disturbances.