6 Evolutionary sets of cooperating trajectories in multi-ship encounter situations – use cases

The main approaches to the problem of planning optimal ship trajectories in encounter situations are the methods based on either differential games and evolutionary method. The methods based on differential games were introduced by Lisowski (Lisowski, 2005). They assume that the process of steering a ship in multi-ship encounter situations can be modelled as a differential game, played by all ships involved, each having their strategies.