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environments. The proposed system used a combination of a pan and tilt device,
camera and a laser range sensor to detect and identify potential threats to the USV. In
addition, a virtual map is created which is analogous to a radar screen providing up-
to-date information of the state of objects in the vicinity. The results have shown that
the proposed system is able to detect multiple dynamic obstacles. Additionally, the
proposed system is shown to have the ability to handle and manage the risks that may
occur during a particular USV mission.
Acknowledgments.
The authors would like to acknowledgement the Engineering and
Physical Sciences Research Council, UK for the financial support. EPSRC Grant
Reference No. EP/I003347/1
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