Blar i NTNU Open på forfatter "Fossen, Thor I."
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Modeling and Control of Parametric Roll Resonance
Holden, Christian (Doctoral Theses at NTNU, 1503-8181; 2011:174, Doctoral thesis, 2011)Parametric roll resonance is a dangerous resonance phenomenon affecting several types of ships, such as destroyers, RO-RO paxes, cruise ships, fishing vessels and especially container ships. Worst case, parametric roll is ... -
Non-linear Observers for GNSS- and Camera-Aided Inertial Navigation of a Fixed-Wing UAV
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)In this paper, exponentially stable nonlinear observers for the estimation of position, velocity, specific force, attitude, and gyro bias of a fixed-wing unmanned aerial vehicle (UAV) are proposed. The sensor suite consists ... -
Nonlinear Attitude and Path-following Control of Fixed-Wing Aircraft
Coates, Erlend Magnus Lervik (Doctoral theses at NTNU;2023:265, Doctoral thesis, 2023)The last decade has seen an increased use of small fixed-wing unmanned aerial vehicles (UAVs) in a multitude of civil, commercial and scientific applications. Autopilots are automatic control systems that provide the basic ... -
Nonlinear Camera- and GNSS-aided INS for Fixed-Wing UAV using the eXogenous Kalman Filter
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne (Chapter, 2017)This chapter aims at applying a recently proposed estimator, called eXogenous Kalman Filter (XKF), to the navigation of a fixed-wing unmanned aerial vehicle (UAV) using inertial sensors, GNSS, and optical flow calculated ... -
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 ... -
Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements
Hansen, Jakob Mahler; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)Global navigation satellite system (GNSS) receivers suffer from an internal time-delay of up to several hundred milliseconds leading to a degeneration of position accuracy in high-dynamic systems. With the increasing ... -
Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements
Hansen, Jakob Mahler; Johansen, Tor Arne; Sokolova, Nadezda; Fossen, Thor I. (Journal article; Peer reviewed, 2018)A modular nonlinear observer is considered for tightly coupled integration of inertial measurements with global satellite measurements. A real-time-kinematic (RTK) approach is utilized where the rover and base station ... -
Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements
Johansen, Tor Arne; Hansen, Jakob Mahler; Fossen, Thor I. (Journal article; Peer reviewed, 2017)A modular nonlinear observer for inertial navigation aided by pseudo-range measurements is designed and analyzed. The attitude observer is based on a recent nonlinear complementary filter that uses magnetometer and ... -
Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning
Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Journal article, 2014)The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation ... -
Nonlinear Observers for Integrated INS/GNSS Navigation – Implementation Aspects
Bryne, Torleiv Håland; Hansen, Jakob Mahler; Rogne, Robert Harald; Sokolova, Nadezda; Johansen, Tor Arne; Fossen, Thor I. (Journal article, 2017)Navigation is a term with broad usage in everyday life and can mean the act of moving, moving through an unknown environment, ascertaining a craft's position, or even browsing on the Internet. Originally, the term meant ... -
Object Detection and Tracking With UAVs: A Framework for UAV Object Detection and Tracking Using a Thermal Imaging Camera
Leira, Frederik Stendahl (Doctoral theses at NTNU;2017:1, Doctoral thesis, 2017)In recent years there has been a drastic increase in the commercial availability of small UAVs for civil and commercial applications. These applications includes, but are not limited to, inspections of structures, search ... -
Object Detection, Recognition and Tracking from UAVs using a Thermal Camera
Leira, Frederik Stendahl; Helgesen, Håkon Hagen; Johansen, Tor Arne; Fossen, Thor I. (Peer reviewed; Journal article, 2020)In this paper a multiple object detection, recognition, and tracking system for unmanned aerial vehicles (UAVs) has been studied. The system can be implemented on any UAVs platform, with the main requirement being that the ... -
Observer and IMU-based Detection of Faults in Position Reference Systems and Gyrocompasses with Dual Redundancy in Dynamic Positioning
Rogne, Robert Harald; Johansen, Tor Arne; Fossen, Thor I. (Journal article; Peer reviewed, 2014)Faults in position reference systems and vessel sensors pose a serious hazard during dynamic positioning, and vessel drive-offs because of erroneous data may have dire consequences. The classification society standards ... -
On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems
From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I. (Journal article; Peer reviewed, 2012)This paper addresses the boundedness property of the inertia matrix and the skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems. These properties are widely used in control theory and Lyapunov-based ... -
On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation and Nonlinear Estimation Techniques in Dynamic Positioning
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)In this article, we suggest that a strapdown inertial navigation system based on microelectromechanical system (MEMS) inertial sensors is a useful addition to a vessel with dynamic positioning (DP). We conduct full-scale ... -
On Uniform Semiglobal Exponential Stability (USGES) of Proportional Line-of-Sight Guidance Laws
Fossen, Thor I.; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2014-11)This paper presents a uniform semiglobal exponential stability (USGES) proof for a class of proportional line-of-sight (LOS) guidance laws used for vehicle path-following control. The LOS guidance law under consideration ... -
Online wave direction and wave number estimation from surface vessel motions using distributed inertial measurement arrays and phase-time-path-differences
Dirdal, Johann Alexander; Skjetne, Roger; Roháč, Jan; Fossen, Thor I. (Peer reviewed; Journal article, 2022)A common approach for finding the direction of ocean waves is to use the phase-time-path-differences (PTPDs) between a static array of various types of sensors mounted on either the sea surface or seabed. However, some ... -
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 ... -
Path planning and collision avoidance for autonomous surface vehicles I: a review
Vagale, Anete; Oucheikh, Rachid; Bye, Robin Trulssen; Osen, Ottar Laurits; Fossen, Thor I. (Journal article; Peer reviewed, 2021)Autonomous surface vehicles are gaining increasing attention worldwide due to the potential benefits of improving safety and efficiency. This has raised the interest in developing methods for path planning that can reduce ... -
Path planning and collision avoidance for autonomous surface vehicles II: a comparative study of algorithms
Vagale, Anete; Bye, Robin Trulssen; Oucheikh, Rachid; Osen, Ottar; Fossen, Thor I. (Journal article; Peer reviewed, 2021)Artificial intelligence is an enabling technology for autonomous surface vehicles, with methods such as evolutionary algorithms, artificial potential fields, fast marching methods, and many others becoming increasingly ...