• Topics in Guided Motion Control of Marine Vehicles 

      Breivik, Morten (Doctoral Theses at NTNU, 1503-8181; 2010:63, Doctoral thesis, 2010)
      A mix between a monograph and an article collection, this PhD thesis considers the concept of guided motion control for marine vehicles, in particular focusing on underactuated marine surface vehicles. The motion control ...
    • Towards the Development of Autonomous Ferries 

      Bitar, Glenn Ivan (Master thesis, 2017)
      Autonomous ships is at the moment a heavily researched topic in the maritime industry. Development to introduce autonomous ferries in the Norwegian fjords is under way. This thesis is a study of technical and formal ...
    • Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments 

      Bitar, Glenn Ivan; Martinsen, Andreas Bell; Lekkas, Anastasios; Breivik, Morten (Peer reviewed; Journal article, 2020)
      We propose a method for energy-optimized trajectory planning for autonomous surface vehicles (ASVs), which can handle arbitrary polygonal maps as obstacle constraints. The method comprises two stages: The first is a hybrid ...
    • UAV Fault-Tolerant Control by Combined L1 Adaptive Backstepping and Fault-dependent Control Allocation 

      Sørensen, Mikkel Eske Nørgaard; Breivik, Morten (Chapter; Conference object, 2015)
      This paper presents an approach to obtain fault tolerance in the nonlinear longitudinal motion control of an aircraft. The approach uses an L1 adaptive backstepping controller and fault-dependent control allocation to ...
    • Warm-Started Optimized Trajectory Planning for ASVs 

      Bitar, Glenn Ivan; Vestad, Vegard Nitter; Lekkas, Anastasios M.; Breivik, Morten (Journal article; Peer reviewed, 2019)
      We consider warm-started optimized trajectory planning for autonomous surface vehicles (ASVs) by combining the advantages of two types of planners: an A* implementation that quickly finds the shortest piecewise linear path, ...
    • Weather-Optimal Positioning Control for Underactuated USVs 

      Kjerstad, Øivind Kåre (Master thesis, 2010)
      This thesis considers the design and development of a weather optimal positioning control system which is implemented on a developed 6 degrees of freedom vessel model of a Viknes 830 augmented with actuator and environmental ...
    • Weather-Optimal Positioning Control for Underactuated USVs 

      Kjerstad, Øivind Kåre (Master thesis, 2010)
      This thesis considers the design and development of a weather optimal positioning control system which is implemented on a developed 6 degrees of freedom vessel model of a Viknes 830 augmented with actuator and environmental ...
    • Zero-Emission Autonomous Ferries for Urban Water Transport: Cheaper, Cleaner Alternative to Bridges and Manned Vessels 

      Reddy, Namireddy Praveen; Zadeh, Mehdi Karbalaye; Thieme, Christoph Alexander; Skjetne, Roger; Sørensen, Asgeir Johan; Aanondsen, Svein Aanond; Breivik, Morten; Eide, Egil (Journal article, 2019)
      Because water is an integral part of day-to-day life for humans, civilizations have generally flourished either in coastal areas or near river basins. Today, about 40% of the world?s population lives near a coast and many ...