CommonOcean: Composable Benchmarks for Motion Planning on Oceans

Autonomous vessels can increase safety and reduce emissions compared to human-operated vessels. One important task for autonomous vessels is motion planning. Currently, there are no benchmarks for autonomous vessels to compare different motion planning methods. Thus, we introduce composable benchmarks for motion planning onoceans (CommonOcean), which is available at commonocean. cps. cit. tum. de. A CommonOcean benchmark consists of three elements: cost function, vessel model, and motion planning scenario. Bench-marks can be conveniently composed using unique identifiers for these elements, which are highly modular. CommonOcean is easy to use, because we provide meaningful parameters for vessel models, various motion planning scenarios, and comprehensive documentation. Furthermore, we developed a scenario generation tool, which allows one to effortlessly create new scenarios from marine traffic data. We believe that CommonOcean will lead to a better reproducibility and comparability of research on motion planning for vessels.