Browsing NTNU Open by Author "Foseid, Eirik Lothe"
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Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Marley, Mathias Huuse; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2024) -
Line-of-Sight Guidance: Learning to Look Ahead
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2024) -
Model Predictive Task-Priority Control using Control Lyapunov Functions
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2024)Redundant robotic systems allow for the simultaneous execution of multiple tasks. It is often desirable to have priority between these tasks, such that lower priority tasks do not interfere with higher priority tasks. Many ... -
Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot
Orucevic, Amer; Foseid, Eirik Lothe; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2024)Energy efficiency is crucial for the operational time and reach of autonomous underwater vehicles (AUVs). A new class of AUVs, underwater snake robots (USRs), has an articulated body that may be utilized to enhance propulsion ...