# RENEW: Risk- and Energy-Aware Navigation in Dynamic Waterways

arXiv: https://arxiv.org/abs/2601.16424 · HTML: https://mlsanity.com/paper/2601.16424/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 39 references that are in the map.
- First posted on arXiv 23 Jan 2026.

## Builds on (most cited first, 7 of 7)

- [Funnel Libraries for Real-Time Robust Feedback Motion Planning](https://mlsanity.com/paper/1601.04037/) (2016)
- [FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning](https://mlsanity.com/paper/1703.07373/) (2017)
- [Chance-Constrained Motion Planning using Modeled Distance-to-Collision Functions](https://mlsanity.com/paper/2107.10953/) (2021)
- [Optimal Virtual Tube Planning and Control for Swarm Robotics](https://mlsanity.com/paper/2304.11407/) (2023)
- [Open-Source, Cost-Aware Kinematically Feasible Planning for Mobile and Surface Robotics](https://mlsanity.com/paper/2401.13078/) (2024)
- [Stranding Risk for Underactuated Vessels in Complex Ocean Currents: Analysis and Controllers](https://mlsanity.com/paper/2307.01917/) (2023)
- [Homotopic Path Set Planning for Robot Manipulation and Navigation](https://mlsanity.com/paper/2406.02885/) (2024)

## Abstract (arXiv)

We present RENEW, a global path planner for Autonomous Surface Vehicle (ASV) in dynamic environments with external disturbances (e.g., water currents). RENEW introduces a unified risk- and energy-aware strategy that ensures safety by dynamically identifying non-navigable regions and enforcing adaptive safety constraints. Inspired by maritime contingency planning, it employs a best-effort strategy to maintain control under adverse conditions. The hierarchical architecture combines high-level constrained triangulation for topological diversity with low-level trajectory optimization within safe corridors. Validated with real-world ocean data, RENEW is the first framework to jointly address adaptive non-navigability and topological path diversity for robust maritime navigation.