• A hybrid approach to underwater docking of AUVs with cross-current 

      Henriksen, Vegard F; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad; Sans-Muntadas, Albert (Conference object; Journal article; Peer reviewed, 2016)
      This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is ...
    • Adaptive Tuning of Acoustic Positioning Sensor 

      Ulvin, Fredrik (Master thesis, 2017)
      This thesis compare methods of noise covariance estimation with the aim to improve the percision of Extended Kalman Filter (EKF) estimates of acoustic distance measurements. Because computational load is a priority, only ...
    • AIS Aided Multi Hypothesis Tracker - Multi-Frame Multi-Target Tracking Using Radar and the Automatic Identification System 

      Liland, Erik (Master thesis, 2017)
      To enable autonomous sea vessel's safe voyage, a real time situational awareness system is required. A tracking system incorporating both radar and Automatic Identifcation System (AIS) sensor data is preferred in maritime ...
    • AIS-based Vessel Trajectory Prediction for ASV Collision Avoidance 

      Hexeberg, Simen (Master thesis, 2017)
      The automotive industry has already taken a big step towards fully autonomous vehicles. This trend is now spreading to the maritime industry with development of autonomous surface vessels (ASVs). A reliable collision ...
    • An Experimental Study of a Redundant Position System for the Autonomous Ferry Milliampere Utilizing Ultra Wide-Band Radio Frequencies 

      Hegerland, Svein Olav (Master thesis, 2018)
      The interest in developing Autonomous Surface Vessels (ASVs) has increased significantly during the last decades, and cutting-edge systems are being developed. The maritime industry is focusing heavily on the research ...
    • Automatic testing of maritime collision avoidance algorithms 

      Minne, Paal Kristian Eknes (Master thesis, 2017)
      For Autonomous Surface Vessels (ASVs) to be put into commercial operation and gain public acceptance, they will have to be as safe, or safer then similar vessels operated by humans. Today, maritime control systems are ...
    • Automatic testing of maritime collision avoidance methods with sensor fusion 

      Henriksen, Eivind Sørum (Master thesis, 2018)
      The development of Autonomous Surface Vessels (ASVs) has during the recent years seen a great progress. When being completely developed, these vessels may be used in a variety of scientific and commercial operations, ...
    • Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control 

      Kufoalor, D. Kwame Minde; Wilthil, Erik Falmår; Hagen, Inger Berge; Brekke, Edmund Førland; Johansen, Tor Arne (Chapter, 2019)
      This paper addresses the challenges of making safe and predictable collision avoidance decisions considering uncertainties related to maritime radar tracking. When a maritime radar is used for autonomous collision avoidance, ...
    • Autonomous Maritime Collision Avoidance: Field verification of Autonomous Surface Vehicle Behavior in Challenging Scenarios 

      Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland; Hepsø, Arild; Trnka, Kenan (Journal article; Peer reviewed, 2019)
      We present results from sea trials for an autonomous surface vehicle (ASV) equipped with a collision avoidance system based on model predictive control (MPC). The sea trials were performed in the North Sea as part of an ...
    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...
    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...
    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...
    • Cascade Attitude Observer for the SLAM filtering problem 

      Bjørne, Elias; Johansen, Tor Arne; Brekke, Edmund Førland (Journal article; Peer reviewed, 2017)
      This article presents an attitude observer that exploits both bearing and range measurements from landmarks, in addition to reference vectors such as magnetometer and accelerometer. It is a gyro bias observer in cascade ...
    • Clutter Mitigation for Target Tracking 

      Brekke, Edmund Førland (Doktoravhandlinger ved NTNU, 1503-8181; 2010:131, Doctoral thesis, 2012)
      Traditionally, the literature on target tracking assumes that the targets of interest are embedded in homogenous Rayleigh distributed background noise. It is most often assumed that purely kinematic point measurements are ...
    • Collision Avoidance for Autonomous Surface Vehicles Using Velocity Obstacle and Set-Based Guidance. 

      Myre, Helene (Master thesis, 2016)
      A good and reliable collision avoidance method is essential when operating Autonomous Surface Vehicles (ASVs) at sea. But even though avoiding collisions is the most important part, making sure the ASV's evasive maneuvers ...
    • Compensation of navigation uncertainty for target tracking on a moving platform 

      Wilthil, Erik Falmår; Brekke, Edmund Førland (Proceedings of the 19th International Conference on Information Fusion, Institute of Electrical and Electronics Engineers (IEEE);, Chapter; Conference object; Peer reviewed, 2016)
      Established state-of-the art methods for target tracking assume perfect knowledge of the sensor position and orientation. This assumption is violated when the tracking sensor is mounted on a moving platform such as a ship. ...
    • Constrained Posterior Cramér-Rao Bound for Discrete-Time Systems 

      Andersson, Leif Erik; Brekke, Edmund Førland; Imsland, Lars Struen; Scibilia, Francesco (Journal article, 2017)
      This article presents a Cramér-Rao lower bound for the discrete-time filtering problem under linear state constraints. A simple recursive algorithm is presented that extends the computation of the Cramér-Rao lower bound ...
    • Cooperative Remote Sensing of Ice using a Spatially Indexed Labeled Multi-Bernoulli Filter 

      Olofsson, Jonatan; Brekke, Edmund Førland; Johansen, Tor Arne (Chapter; Conference object, 2017)
      In polar region operations, drift ice positioning and tracking is useful for both scientific and safety reasons. Many sensors can be employed to generate detections of sea ice, such as satellite-carried Synthetic Aperture ...
    • Development and Testing of Navigation and Motion Control Systems for milliAmpere 

      Sæther, Brage (Master thesis, 2019)
      Marine fartøy som opererer i trange omgivelser krever et robust og nøyaktig navigasjonssystem og kontrollsystem. Denne oppgaven presenterer nye implementasjoner av navigasjonssystem og kontrollsystem i detalj. Implementasjonene ...
    • Development of a Dynamic Positioning System for the ReVolt Model Ship 

      Alfheim, Henrik; Muggerud, Kjetil (Master thesis, 2017)
      Autonomous surface vehicles are still in the early stages of development, and show great potential. These vessels can be used in different scientific and commercial operations, outperforming manned vessels in safety, ...