• 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, ...
    • Collision Avoidance for ASVs Using Model Predictive Control 

      Hagen, Inger Berge (Master thesis, 2017)
      If an Autonomous Surface Vehicle (ASV) is to be operated at sea in the proximity of other vessels it must be equipped with a Collision Avoidance System (CAS). This system must comply with the rules for avoiding collision ...
    • MPC-based Collision Avoidance Strategy for Existing Marine Vessel Guidance Systems 

      Hagen, Inger Berge; Kufoalor, D. Kwame Minde; Brekke, Edmund Førland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)
      This paper presents a viable approach for incorporating collision avoidance strategies into existing guidance and control systems on marine vessels. We propose a method that facilitates the use of simulation-based Model ...
    • 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 ...