| With the rapid evolution of Maritime Autonomous Surface Ships (MASS), revising the Convention on the International Regulations for Preventing Collisions at Sea (COLREG) has arisen to address new aspects not covered by existing regulations. This paper extends traditional simulation-based COLREG safety analysis using Constraint Logic Programming (CLP) to identify potential gaps and ambiguities in MASS-related scenarios. We propose a geometric optimization strategy to constrain the search space for safety verification in standard navigation situations. By focusing on 2D geometric placement parameters within a bounded modeling framework, we show that adding problem-specific geometric constraints reduces the search space to near-polynomial complexity, making exploring the constraint space and property satisfiability computationally feasible. |
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