3.2. Measures of collision risk 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 ...
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 ...