Digital Twin-based Out-of-Distribution Detection in Autonomous Vessels

This folder contains datasets, code, and analysis scripts for reproducing the results in the paper "Digital Twin-based Out-of-Distribution Detection in Autonomous Vessels". Specifically, it contains the following folders: 

Datasets

Dataset for each Vessel model in different maneuvers and conditions, i.e., waypoint, zigzag, ocean current (including IND and OOD).

Configurations (Configurations used to train the DTM for each vessel in different maneuvers).

Results 

Raw results for RQ1 and RQ2 for each vessel in different maneuvers, including the results from DTM-R and DTM-E.

Results for RQ3 (statistical tests) derived from the above results. 

Scripts and Code

Scripts used for statistical tests.

DTC implementation (shown with one vessel as example).

Code used for hyperparameter optimization.

Inference class used for integration of DTM and DTC.