Blar i NTNU Open på forfatter "Breivik, Morten"

Viser treff 81-93 av 93

    • The Autosea project: Developing closed-loop target tracking and collision avoidance systems 

      Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      Autonomous surface vehicles and maritime autonomous surface ships must rely on sense-and-avoid systems for navigating safely among other ships. The main objective of this paper is to present examples of such systems, and ...

    • The branching-course model predictive control algorithm for maritime collision avoidance 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland (Journal article; Peer reviewed, 2019)
      This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise ...

    • 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 ...

    • Topics in Nonlinear and Model-based Control of Ships 

      Sørensen, Mikkel Eske Nørgaard (Doctoral theses at NTNU;2021:401, Doctoral thesis, 2021)
      This PhD thesis considers topics within automatic motion control of ships, which has been an active research topic since the early 20th century. Specifically, the thesis aims at designing controllers to achieve a good ...

    • 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 ...

    • Training of Reinforcement Learning Agents for Autonomous Driving in Simulated Environments 

      Kummervold, Sindre Byrkjedal (Master thesis, 2023)
      Et system som er i stand til autonom kjøring, må ha flere funksjoner. For det første må kjøretøyet kunne sanse omgivelsene sine, og for det andre må det bruke informasjonen om omgivelsene for å manøvrere til ønsket ...

    • Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments 

      Bitar, Glenn Ivan; Martinsen, Andreas Bell; Lekkas, Anastasios; Breivik, Morten (Peer reviewed; Journal article, 2020)
      We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. ...

    • 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, 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 ...