Blar i NTNU Open på forfatter "Tengesdal, Trym"
-
Bayesian Bridging Distribution Analysis for Model Based Intent and Long-term Prediction of Vessels
Fridriksson, Fridrik Hilmar Zimsen (Master thesis, 2021)For å sørge for at autonome overflatefartøyer er sikre for bruk blant den allerede eksisterende trafikk, da må den være utstyrt med et antikollisjonssystem. En viktig del av et slikt system er evnen til å kunne oppdage ... -
Gaussian Processes for long-term trajectory prediction using historical AIS data
Mellbye, Håvard Skåra (Master thesis, 2021)For at autonome overflate-fartøyer (ASVer) skal kunne operere trygt er det essensielt med robuste antikollisjonssystemer. Slike systemer innebærer ikke bare at et fartøy må kunne reagere i det det oppstår farlige situasjoner, ... -
Intention modeling and inference for autonomous collision avoidance at sea
Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)The open wording of the traffic rules of the sea, COLREGS, and the existence of unwritten rules, make it essential for an autonomous ship to understand the intentions of other ships. This article uses a dynamic Bayesian ... -
Modular Collision Avoidance Using Predictive Safety Filters
Vaaler, Aksel; Robinson, Haakon Rennesvik; Tengesdal, Trym; Rasheed, Adil (Chapter, 2023)The number of maritime projects is increasing yearly, including offshore applications, underwater robotics for ocean condition monitoring, and autonomous ship transport. Many of these activities are safety-critical, making ... -
On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC
Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)Collision Avoidance (COLAV) for autonomous ships is challenging since it relies on track estimates of nearby obstacles which are inherently uncertain in both state and intent. This uncertainty must be accounted for in the ... -
Risk-based Autonomous Maritime Collision Avoidance Considering Obstacle Intentions
Tengesdal, Trym; Johansen, Tor Arne; Brekke, Edmund Førland (Chapter, 2020)A robust and efficient Collision Avoidance (COLAV) system for autonomous ships is dependent on a high degree of situational awareness. This includes inference of the intent of nearby obstacles, including compliance with ... -
Risk-based Traffic Rules Compliant Collision Avoidance for Autonomous Ships
Tengesdal, Trym (Doctoral theses at NTNU;2022:259, Doctoral thesis, 2022)Summary As the maritime traffic sector is expected to increase over the next years, effort should be invested into protocols and technology for ensuring safe and efficient voyage over the seas. Autonomous ships can here ... -
Ship Collision Avoidance and Anti Grounding Using Parallelized Cost Evaluation in Probabilistic Scenario-Based Model Predictive Control
Tengesdal, Trym; Johansen, Tor Arne; Grande, Tom Daniel; Blindheim, Simon André Johnsen (Peer reviewed; Journal article, 2022)The ability to effectively process large amounts of information in reasonable time will be important for robust deliberative collision avoidance (COLAV) planning algorithms. Failure to do so can lead to collision, and can ... -
Uncertainty Management in a Scenario-Based MPC for Collision Avoidance
Tengesdal, Trym (Master thesis, 2019)Eit robust antikollisjonssystem er viktig for å sørge for sikker styring av autonome overflatefartøy. Dette antikollisjonssystemet er avhengig av eit påliteleg målfølgingssystem for å halde styr på hindringar i nærleiken. ...