• 3D AUV Collision Avoidance 

      Engelhardtsen, Øystein (Master thesis, 2007)
      An underlying requirement for any Autonomous Underwater Vehicle (AUV) is to navigate through unknown or partly unknown environments while performing certain user specified tasks. The loss of an AUV due to collision is ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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, ...
    • Development of a Dynamic Positioning System for the ReVolt Model Ship 

      Alfheim, Henrik Lemcke; Muggerud, Kjetil; Breivik, Morten; Brekke, Edmund Førland; Eide, Egil; Engelhardtsen, Øystein (Journal article; Peer reviewed, 2018)
      A Dynamic Positioning (DP) control system is developed, implemented and tested for a scale model of DNV GL’s concept ship ReVolt. This model-scale ship is used as a test platform for sensors and control systems used in ...
    • Guidance System for Autonomous Surface Vehicles 

      Stenersen, Thomas (Master thesis, 2015)
      There has been a rapid growth in autonomous technology in several fields the past decade. One of these is autonomous navigation, where the DARPA Grand Challenges has been a major research catalyst. Today, the Centre of ...
    • Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking 

      Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein (Peer reviewed; Journal article, 2020)
      This paper presents a method for georeferencing low-altitude camera sensors, both infrared and electro-optical, in a maritime context. Accurate georeferencing require very high precision for the object pixel coordinates ...
    • Sensor Combinations in Heterogeneous Multi-sensor Fusion for Maritime Target Tracking 

      Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Helgesen, Håkon Hagen; Engelhardtsen, Øystein (Chapter, 2019)
      Safe navigation for autonomous surface vehicles requires a robust and reliable tracking system that maintains and estimates position and velocity of other vessels. This paper demonstrates a measurement level sensor fusion ...