Temporal Logic Formalization of Marine Traffic Rules

Autonomous vessels have to adhere to marine traffic rules to ensure traffic safety and reduce the liability of manufacturers. However, autonomous systems can only evaluate rule compliance if rules are formulated in a precise and mathematical way. This paper formalizes marine traffic rules from the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) using temporal logic. In particular, the collision prevention rules between two power-driven vessels are delineated. The formulation is based on modular predicates and adjustable parameters. We evaluate the formalized rules in three US coastal areas for over 1,200 vessels using real marine traffic data.