Blar i NTNU Open på forfatter "Rothmund, Sverre Velten"
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A Bayesian Approach to Risk-Based Autonomy, with Applications to Contact-Based Drone Inspections
Rothmund, Sverre Velten; Thieme, Christoph Alexander; Utne, Ingrid Bouwer; Johansen, Tor Arne (Journal article; Peer reviewed, 2023)Enabling higher levels of autonomy while ensuring safety requires an increased ability to identify and handle internal faults and unforeseen changes in the environment. This article presents an approach to improve this ... -
Intention modeling and inference for autonomous collision avoidance at sea
Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)The open wording of the traffic rules of the sea, COLREGS, and the existence of unwritten rules, make it essential for an autonomous ship to understand the intentions of other ships. This article uses a dynamic Bayesian ... -
Risk awareness and control of autonomous robots
Rothmund, Sverre Velten (Doctoral theses at NTNU;2023:63, Doctoral thesis, 2023)Norsk sammendrag Å gjøre autonome systemer i stand til å fungere trygt uten direkte menneskelig overvåking krever at systemene får en situasjonsbevissthet som det i dag hovedsakelig er operatøren som står for. En avgjørende ... -
Risk-Based Obstacle Avoidance in Unknown Environments using Scenario-Based Predictive Control for an Inspection Drone Equipped with Range Finding Sensors
Rothmund, Sverre Velten; Johansen, Tor Arne (Chapter, 2019)This paper develops an obstacle avoidance strategy for inspection drones equipped with simple range finding sensors, such as radar or sonar. The obstacle avoidance strategy uses scenario-based model predictive control where ... -
Ship Path Planning using Navigational Charts with Time-Dependent Weather Constraints
Rothmund, Sverre Velten (Master thesis, 2018)Automatically planning safe paths for ships to follow will be an important step towards a more autonomous shipping industry. This thesis develops an algorithm that generates safe paths that avoid grounding, sailing in ... -
Validation of ship intention model for maritime collision avoidance control using historical AIS data
Rothmund, Sverre Velten; Haugen, Helene Engebakken; Veglo, Guro Drange; Brekke, Edmund Førland; Johansen, Tor Arne (Chapter, 2023)This article tests the method for inferring and modeling ship intentions presented in [1] on real ship encounters gathered through the automatic identification system (AIS) that all larger ships are required to use. Empirical ...