Blar i NTNU Open på forfatter "Klausen, Kristian"
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Anti-Collision System for Multi-Rotor Drones Operating Close to Obstacles using Radar Data
Koren, Thomas Frimann (Master thesis, 2017)This thesis concerns the development of a radar-based collision avoidance system for multirotor vehicles. The first chapter is a small introduction to radar systems, to aid in understanding the rest of this thesis. Further ... -
Application of RADAR SAR for Indoor Visual Inspection
Jablonski, Snorre (Master thesis, 2018)Utilizing Unmanned Aerial Vehicles (UAVs) for the purpose of indoor visual inspection poses great possibilities within many industries regarding cost reduction and efficiency. The development of mapping techniques and ... -
Autonomous Inspection of Wind Turbines and Buildings using an UAV
Høglund, Sondre (Master thesis, 2014)This thesis describes the use of optical flow and Hough transform in local navigation,particularly the case of inspecting wind turbines and buildings for damages. The goal isto create an observer capable of estimating the ... -
Autonomous Landing of Fixed-Wing UAV in Net suspended by Multirotor UAVs - A Fixed-Wing Landing System
Nevstad, Sigurd Olav (Master thesis, 2016)This thesis presents an autonomous landing system designed for an fixed-wing unmanned aerial vehicle (UAV) to land in a net suspended by multirotor UAVs. Ordinary landing of an fixed-wing UAV usually involves landing on a ... -
Autonomous landing of Fixed-Wing UAV in net suspended by Multirotor UAVs - A Multirotor recovery system
Moe, Jostein Borgen (Master thesis, 2016)This thesis considers the recovery of a fixed-wing Unmanned Aerial Vehicle (UAV) in a net suspended by multirotor UAVs. Motivated by marine fixed-wing UAV operations from ships, where limited landing space and harsh weather ... -
Autonomous recovery of a fixed-wing UAV using a net suspended by two multirotor UAVs
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)This article presents a novel recovery method for fixed‐wing unmanned aerial vehicles (UAVs), aimed at enabling operations from marine vessels. Instead of using the conventional method of using a fixed net on the ship deck, ... -
Collision Avoidance for Multirotor Inspection
Bjelland, Vetle Andre (Master thesis, 2018)During the last couple of years, the goal of using unmanned aerial vehicles (UAV) for inspection purposes has become within reach. This thesis considers the different algorithms for implementing a high level controller for ... -
Cooperative Behavioural Control for Omni-Wheeled Robots: Experiments and simulations for formation control with obstacle- and collision avoidance
Klausen, Kristian (Master thesis, 2013)This thesis considers the formation and behavioural control problem of a multirobotsystem. A mathematical model of the mobile vehicles are presented, followedby an introduction to behavioural control. The Null-Space based ... -
Cooperative Control and RTK Navigation System for Multirotors
Røli, Jon-Håkon Bøe (Master thesis, 2015)This thesis considers the implementation of cooperative control on small, unmanned, multirotor systems. More specifically, the problem of distributed formation control is handled, as well as the necessary high precision ... -
Cooperative Control for Multirotors Transporting an Unknown Suspended Load under Environmental Disturbances
Klausen, Kristian; Meissen, Chris; Fossen, Thor I.; Arcak, Murat; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)In this paper, we develop a cooperative control algorithm for a group of multirotor unmanned aerial vehicles (UAVs) transporting a suspended payload of unknown mass. In addition, the vehicles are subjected to unknown ... -
Coordinated Control of Multirotors for Suspended Load Transportation and Fixed-Wing Net Recovery
Klausen, Kristian (Doctoral theses at NTNU;2017:172, Doctoral thesis, 2017)As the core technology behind Unmanned Aerial Vehicles (UAVs) have matured, there have been a surge of increased interest for these vehicles over the past years. UAVs have the potential to become a ubiquitous tool for ... -
Indoor Lidar-based Graph SLAM for Industrial Inspection using Scan Registration and Pose-based Loop Detection
Henriksen, Kristian (Master thesis, 2020) -
Multicopter Attitude Estimation with North-Seeking Capabilities
Mathisen, Pål Holthe (Master thesis, 2018)This thesis deals with attitude measurement by fusing sensor information from accelerometers, gyros and position aiding in the form of a pseudorange measurement system, on a multicopter system. This is motivated by multicopter ... -
Nonlinear Control with Swing Damping of a Multirotor UAV with Suspended Load
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)In this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which ... -
Passivity-based Formation Control for UAVs with a Suspended Load
Meissen, Chris; Klausen, Kristian; Arcak, Murat; Fossen, Thor I.; Packard, Andrew (Journal article, 2017)This paper presents a passivity based formation control strategy for multiple unmanned aerial vehicles (UAVs) cooperatively carrying a suspended load. The control strategy we propose consists of an internal feedback control ... -
Photogrammetry for Drone Inspections: Introducing Advanced Path Planning for Automated Drone Operations
Sunde, Leif Halvor (Master thesis, 2018)Some ideas and procedures for realizing a system for automated inspection of structures have been presented throughout this thesis. The few presented results shows a reliable procedure for estimating normals in a coarse ... -
Real-time Corrosion Detection With Continuous Deep Learning
Aagaard, Fredrik Veidahl (Master thesis, 2020) -
Search and Rescue Mission Using Multicopters
Steen, Thor Audun (Master thesis, 2014)Search and rescue operations can greatly benefit from the use of autonomous unmanned aerial systems to survey the environment and collect evidence about the positions of missing persons. This thesis considers the design ... -
Sensor Simulation and Environment Mapping using UWB Radar for Industrial Drone Inspection
Billdal, David Chen (Master thesis, 2018)The use of unmanned aerial drones for inspection of industrial environments have great potential in lowering both cost and risk. Development of such systems are going on at full speed, but many hurdles remain, especially ... -
Suspended Load Motion Control using Multicopters
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne (Journal article, 2014)This paper presents a distributed kinematic control law for group coordination for several multicopters and a payload suspended with wires from each multicopter. The complete system with constraints on the wires are modeled ...