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Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
(Journal article; Peer reviewed, 2014)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ... -
Path following control of snake robots in unstructured environments
(Proceedings / IEEE International Conference on Robotics and Automation;, Journal article; Peer reviewed, 2011)As a step towards enabling snake robots to move in unstructured environments, this paper considers control strategies where environment adaptation is combined with directional control of snake robot locomotion. The first ... -
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances
(Chapter, 2019)An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ... -
Path Following for Formations of Underactuated Marine Vessels under Influence of Constant Ocean Currents
(Journal article; Peer reviewed, 2014) -
Path Following in Simulated Environments using the A3C Reinforcement Learning Method
(Master thesis, 2018)Using reinforcement learning as a part of a Guidance, Navigation and Control (GNC) system is a relatively unexplored field. This thesis explores the use of deep reinforcement learning in a path following control algorithm ... -
Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents
(Journal article; Peer reviewed, 2012)A control strategy allowing underactuated underwater vehicles to accomplish 3D straight line path following tasks in the presence of ocean currents is developed. The ocean current is considered constant, irrotational and ... -
Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents
(Journal article; Peer reviewed, 2014)This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ... -
Path Following of Underactuated Marine Vessels in the Presence of Ocean Currents
(Master thesis, 2013)The use of marine vessels, especially underwater vehicles, is rapidly increasing. Autonomous marine vehicles are a huge focus area within the oil and gas industry, and can also be utilized for scientific, environmental and ... -
Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents
(Chapter, 2015)This paper considers straight-line path following for inhomogeneous formations with underactuated agents. The formation can be comprised of agents with different dynamics that are each affected by a different unknown ... -
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
(Journal article; Peer reviewed, 2019)The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ... -
The path from mindfulness to self-esteem: self-concept-clarity and cognitive flexibility as mediators
(Journal article; Peer reviewed, 2023)Mindfulness is positively associated with self-esteem, yet little is known about possible mediators underlying this relation. In this study, the role of self-concept clarity and cognitive flexibility is examined as potential ... -
Path Generation and Spline Approximation of a 3D Extended Dubins Path
(Master thesis, 2021)En viktig egenskap som muliggjør autonom flygning av ubemannede fartøy (UAV) er automatisk baneplanlegging. Dette arbeidet tar for seg problemet med å generere en tredimensjonal bane, fra en sekvens av veipunkter, som tar ... -
Path generation for high-performance motion of ROVs based on a reference model
(Journal article; Peer reviewed, 2015)This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The ... -
Path integral methods for the dynamics of stochastic and disordered systems
(Journal article; Peer reviewed, 2017)We review some of the techniques used to study the dynamics of disordered systems subject to both quenched and fast (thermal) noise. Starting from the Martin–Siggia–Rose/Janssen–De Dominicis–Peliti path integral formalism ... -
Path Integration in a Swarm of Robots
(Master thesis, 2014)In this report I propose a method of navigation for differentially wheeled robots inspired by path integration in certain social insects like bees and ants. It is a very simple method, intended for use in low-tech robots ... -
Path integration in place cells of developing rats
(Journal article; Peer reviewed, 2018)Place cells in the hippocampus and grid cells in the medial entorhinal cortex rely on self-motion information and path integration for spatially confined firing. Place cells can be observed in young rats as soon as they ... -
Path planning and collision avoidance for autonomous surface vehicles I: a review
(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
(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 ... -
Path Planning and Guidance for Marine Surface Vessels
(Master thesis, 2013)Path planning and guidance for marine surface vesselsis the main topic of this thesis. The subject is of great relevance both for unmanned surface vehicles (USV) and for autopilot systems for manned vessels.A general ... -
Path Planning and Obstacle Avoidance for Marine Vessels Using the Deep Deterministic Policy Gradient Method
(Master thesis, 2019)Med autonomi som et av hovedfokusene innen utviklingen av den maritime industrien er dokking-fasen et aspekt av et fullt autonomt fartøy som ennå ikke er utforsket fullt ut. På grunn av manøvreres kompleksitet er det ...