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This document presents a novel navigation system for Autonomous Surface Vehicles (ASVs) using Distributional Reinforcement Learning (RL) to enhance decision-making in congested waterways. The proposed system, which integrates onboard LiDAR and odometry sensors, demonstrates superior navigation safety and efficiency compared to existing methods in high-fidelity simulations. Key contributions include a new reward function that balances COLREGs compliance with practical navigation needs and the development of

Author

marinehdk

Language

EN