Autonomous Bosphorus Transit

A compact Panamax manoeuvring model follows the northbound Bosphorus corridor under closed-loop distance-domain NMPC. The video is rendered from one recorded run; displayed values come from that run. The controller uses a 1500 m preview with first-block updates; this is a trial setting, not the configuration reported for this route in the manuscript.

This is a simulation with zero current and no measurement noise. Controller and simulated plant use the same compact model, which is not validated at ship scale. Waves are visual and do not affect the vessel model. Shore distance is measured from the vessel centreline; hull footprint and under-keel clearance are not checked.

Contains modified Copernicus Sentinel data 2026. Produced using Copernicus WorldDEM-30 © DLR e.V. 2010-2014 and © Airbus Defence and Space GmbH 2014-2018, provided under COPERNICUS by the European Union and ESA; all rights reserved. Coastline and traffic separation data © OpenStreetMap contributors, available under the Open Database License. Rendered with threepp.