Thrust Ability Diagrams of DP Vessels: Computational Aspects

By the thrust ability diagram of the dynamic positioning vessel we mean the set of all 3-dimensional vectors (FX, FY, MZ) constituted by surge and sway forces and the rotating yaw moment that can be provided by the set of vessel's actuators. We consider algorithms for approximation (with arbitrary accuracy) of the thrust ability diagrams with a union of convex polytopes and estimate the computational complexity of these algorithms.