Table 2 State space parameter configurations.
Parameter | Description | Dimension/Value |
|---|---|---|
n | Local observation window size | 11 |
T | Temporal history length | 10 |
W, H | Global map dimensions | \(40 \times 40\) |
\(\textbf{p}_c, \textbf{p}_g\) | Normalized positions | \([-1,1]^2\) |
\(\dot{\textbf{p}}_c\) | USV velocity | \(\mathbb {R}^2\) |
\(\textbf{V}_l\) | Local obstacle map | \(\{0,1\}^{11 \times 11}\) |
\(\textbf{M}_g\) | Global obstacle map | \(\{0,1\}^{40 \times 40}\) |
\(\textbf{V}_f\) | Predicted current field | \(\mathbb {R}^{2 \times 11 \times 11}\) |
