The rules presented above are intended for human interpretation and contain ambiguities such as “large enough” (Rule 8) and “substantial action” (Rule 16). How can they be translated into a form suitable for reinforcement learning? An essential first step is recognizing the relationship between...
According to rule 17, the OS must take the most effective action to avoid a collision in this stage, as the collision cannot be avoided by the action of a vessel alone. A substantial turn (90◦ or more in the course control system circumstance) must be taken in the most effective ...