• COLREGs-aware Trajectory Planning and Collision Avoidance for Autonomous Surface Vessels 

      Thyri, Emil Hjelseth (Doctoral theses at NTNU;2022:318, Doctoral thesis, 2022)
      This thesis considers trajectory planning and collision avoidance for autonomous surface vessels (ASVs) operating in complex domains in the presence of other vessels. In particular, the task of maneuvering in compliance ...
    • Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels 

      Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Journal article; Peer reviewed, 2016)
      Nonlinear control algorithms are often designed with linear feedback terms. Such linear feedback typically gives rise to nice exponential stability properties, but are not physically realistic since all actuators have ...
    • Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control 

      Sørensen, Mikkel Nørgaard; Breivik, Morten; Skjetne, Roger (Peer reviewed; Journal article, 2020)
      In this article, combinations of linear and nonlinear feedback terms are investigated for 3 degrees-of-freedom pose and velocity control of ships. Nonlinear control algorithms that are found in the literature often have ...
    • Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas 

      Rabanal, Ole Maurice Røste (Master thesis, 2015)
      The primary purpose of this study is to develop two different dynamic position- ing (DP) controllers for a model-scale supply vessel Cybership III, and determine which control strategy provides a safer, smarter and greener ...
    • Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas 

      Rabanal, Ole Maurice Røste; Brodtkorb, Astrid H.; Breivik, Morten (Journal article; Peer reviewed, 2016)
      This paper considers the design, implementation and experimental verification of two controllers for ship station keeping in extreme seas. In particular, the performance of two dynamic positioning controllers are compared, ...
    • Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels 

      Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Journal article; Peer reviewed, 2015)
      This paper deals with the design and evaluation of four controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a marine ...
    • Compensation of Wave-Induced Motion for Marine Crane Operations 

      Eikeland, Frode Nymark (Master thesis, 2008)
      Most of the systems considering wave synchronization in the literature are concerned with moon pool operations. The objective of this thesis is to transition the existing knowledge from some of that work into marine cranes ...
    • Construction and Control of an Autonomous Sail Boat 

      Stenersen, Henning Seeberg (Master thesis, 2015)
      En autonom seilbåt i liten skala har blitt bygget og testet. Denne har autonomt, eller selvstyrt,klart å seile en forhåndsdefinert bane under testing i feltet. Dette spennende prosjektet har mange sider. Båten er bygget ...
    • Continuous-Curvature Path Generation using Fermat's Spiral 

      Lekkas, Anastasios; Dahl, Andreas R; Breivik, Morten; Fossen, Thor I. (Journal article; Peer reviewed, 2013)
      This paper proposes a novel methodology, based on Fermat's spiral (FS), for constructing curvature-continuous parametric paths in a plane. FS has a zero curvature at its origin, a property that allows it to be connected ...
    • 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 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 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 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 ...
    • DP and the Art of Perfect Positioning 

      Kvaal, Stig; Østby, Per; Breivik, Morten (Journal article; Peer reviewed, 2022)
    • 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. ...
    • Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries 

      Helgesen, Øystein Kaarstad; Thyri, E.H.; Brekke, Edmund Førland; Stahl, Annette; Breivik, Morten (Peer reviewed; Journal article, 2023)
      Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors such as ...