This article provides a comprehensive overview on cooperative control methods for waterborne transport. We first proposed a hierarchical architecture of cooperation in the waterborne transport systems. Three layers of cooperation are identified according to the range of communication and cooperation, i.e., the individual layer, the local layer, and the network layer. The individual layer is the basis layer where a controller controls the dynamics of an individual vessel. The local layer considers the vessel-to-vessel (V2V) and vessel-to-infrastructure (V2I) interactions. The network layer considers not only V2V and V2I interactions but also the interdependence of the interconnected infrastructures, i.e., infrastructure-to-infrastructure interactions. Existing research for cooperation at each layer is reviewed, and the main research gaps are provided.

中文翻译：

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水上运输合作控制调查

本文对水运的合作控制方法进行了全面概述。我们首先提出了水运系统中合作的分层体系结构。根据通信和协作的范围，确定了三个协作层，即各个层，本地层和网络层。单个层是控制器控制单个容器动态的基础层。本地层考虑了血管到血管（V2V）和血管到基础结构（V2I）的相互作用。网络层不仅考虑V2V和V2I交互，而且考虑互连基础架构的相互依赖性，即基础架构到基础架构的交互。审查了在各个层面上现有的合作研究，