• Development and Testing of Navigation and Motion Control Systems for milliAmpere 

      Sæther, Brage (Master thesis, 2019)
      Marine fartøy som opererer i trange omgivelser krever et robust og nøyaktig navigasjonssystem og kontrollsystem. Denne oppgaven presenterer nye implementasjoner av navigasjonssystem og kontrollsystem i detalj. Implementasjonene ...
    • Development of a Dynamic Positioning System for the ReVolt Model Ship 

      Alfheim, Henrik; Muggerud, Kjetil (Master thesis, 2017)
      Autonomous surface vehicles are still in the early stages of development, and show great potential. These vessels can be used in different scientific and commercial operations, outperforming manned vessels in safety, ...
    • Development of a Dynamic Positioning System for the ReVolt Model Ship 

      Alfheim, Henrik Lemcke; Muggerud, Kjetil; Breivik, Morten; Brekke, Edmund Førland; Eide, Egil; Engelhardtsen, Øystein (Journal article; Peer reviewed, 2018)
      A Dynamic Positioning (DP) control system is developed, implemented and tested for a scale model of DNV GL’s concept ship ReVolt. This model-scale ship is used as a test platform for sensors and control systems used in ...
    • Development of a Low-Cost Integrated Navigation System for USVs 

      Ellingsen, Haakon (Master thesis, 2008)
      This report considers the real-time implementation approach of an integration between an Inertial Navigation System (INS) and a Global Positioning System (GPS). The integration has been performed, using a GlobalSat EM--411 ...
    • Digital Twin Development - Condition Monitoring and Simulation Comparison for the ReVolt Autonomous Model Ship 

      Danielsen-Haces, Alexander (Master thesis, 2018)
      Digital Twin technology is becoming an integral part of simulation, testing and operation of semi and fully autonomous vehicles. This technology shows great potential for decreasing testing time, improving cost efficiency ...
    • Dynamic Positioning by Nonlinear Model Predictive Control 

      Fannemel, Åsmund Våge (Master thesis, 2008)
      This thesis discusses the theoretical aspects of the unscented Kalman filter (UKF) and nonlinear model predictive control (NMPC) and try to evaluate their practical value in a dynamic positioning (DP) system. A nonlinear ...
    • Dynamic positioning for Autonomous Surface Vehicles 

      Thorbjørnsen, Eirik Storås (Master thesis, 2017)
      This master seeks to prove that it is possible to control a small autonomous surface vehicle with a dynamic positioning controller, using simple controls and thrust algorithm. This should be done without using observers ...
    • Dynamic Positioning for Unmanned Surface Vehicles 

      Halvorsen, Håvard (Master thesis, 2008)
      This thesis develops a Dynamic Positioning (DP) system for small marine craft by using the LQR controller approach. Development has been done with a 'Viknes 830' vessel in mind, which is operated by the company 'Maritime ...
    • Energy-Optimized Path Planning for Autonomous Ferries 

      Bitar, Glenn Ivan; Breivik, Morten; Lekkas, Anastasios M. (Journal article, 2018)
      The topic of energy-optimized path planning using pseudospectral optimal control is considered. An optimal control problem (OCP) is formulated to produce an energy-optimized path between two points among static obstacles. ...
    • From Eureka to K-Pos: Dynamic Positioning as a Highly Successful and Important Marine Control Technology 

      Breivik, Morten; Kvaal, Stig; Østby, Per (Journal article; Peer reviewed, 2015)
      Dynamic positioning (DP) started out as an exotic control technology for geological core sampling in deep waters in the early 1960s. The technology gradually became more advanced during the 1970s, especially after it was ...
    • Guidance Algorithms for Planar Path-based Motion Control Scenarios 

      Haugen, Joakim (Master thesis, 2010)
      The problem of performing accurate path maneuvering tasks in planar space is investigated in thesis. The purpose is to utilize limited knowledge about the vehicle's maneuverability constraints to output feasible reference ...
    • Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17 

      Eriksen, Bjørn-Olav Holtung; Bitar, Glenn Ivan; Breivik, Morten; Lekkas, Anastasios M. (Journal article; Peer reviewed, 2020)
      This paper presents a three-layered hybrid collision avoidance (COLAV) system for autonomous surface vehicles, compliant with rules 8 and 13–17 of the International Regulations for Preventing Collisions at Sea (COLREGs). ...
    • Hybrid collision avoidance for autonomous passenger ferries 

      Uttisrud, Anette (Master thesis, 2020)
      Den pågående urbaniseringen stiller økende krav til bærekraftig passasjertransport i byene. Elektriske autonome passasjerferger tilbyr en grønn og tilpasningsdyktig transportløsning som enkelt kan integreres i urbane ...
    • Hybrid Collision Avoidance for Autonomous Surface Vehicles 

      Serigstad, Einvald; Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Autonomous vehicles and collision avoidance (COLAV) systems are advancing rapidly. However, the majority of the COLAV methods developed are not designed for vehicles with second-order nonholonomic constraints, such as ...
    • Hybrid Collision Avoidance for Autonomous Surface Vessels 

      Serigstad, Einvald (Master thesis, 2017)
      When developing autonomous vehicles, collision avoidance (COLAV) methods are essential. COLAV methods are generally divided into two groups; reactive and deliberate methods. Reactive COLAV methods act solely on sensor data ...
    • Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model 

      Lyngstadaas, Ole Nikolai; Sæterdal, Tore Egil; Sørensen, Mikkel Nørgaard; Breivik, Morten (Chapter, 2018)
      Motion control concepts for ships have traditionally not focused on handling actuator constraints. This paper investigates the effects on performance of a pair of nonlinear control schemes by developing and implementing a ...
    • Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is ...
    • Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten (Chapter, 2017)
      This paper considers a powerful approach to modeling, identification, and control of high-speed autonomous surface vehicles (ASVs) operating in the displacement, semi-displacement, and planing regions. The approach is ...
    • Modelling and Control of Offshore Ploughing Operations 

      Voldsund, Thor-Arne (Master thesis, 2007)
      Summary: In this thesis work, mathematical models required to simulate an offshore ploughing operation has been derived. This includes a surface vessel model, a model of the plough and its friction force due to seabed ...
    • Motion Planning Algorithms for Marine Vehicles 

      Hvamb, Knut (Master thesis, 2015)
      In this Master's thesis some of the most popular techniques in the motion-planning field are implemented in two-dimensional areas with obstacles. The Voronoi diagram method, the probabilistic roadmap method and the ...