Browsing NTNU Open by Author "Hagen, Inger Berge"

Now showing items 1-8 of 8

    • 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 ...

    • Kayak Tracking using a Direct Lidar Model 

      Hagen, Inger Berge; Brekke, Edmund Førland (Chapter, 2021)
      This paper proposes a direct approach for extended object tracking (EOT) using light detection and ranging (lidar) measurements. The method does not use any clustering operations, but processes the individual laser beams ...

    • 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 ...

    • Safety and COLREG evaluation for marine collision avoidance algorithms 

      Hagen, Inger Berge; Vassbotn, Olav; Skogvold, Morten; Johansen, Tor Arne; Brekke, Edmund Førland (Peer reviewed; Journal article, 2023)
      Verification is a necessary step in system development, so too for autonomous surface vehicles (ASVs). However, formal and analytical verification methods are not well suited for such highly complex systems. Simulation-based ...

    • Scenario-Based Model Predictive Control with Different Numbers of Decision Steps for COLREGS Compliant Ship Collision Avoidance 

      Hagen, Inger Berge; Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland (Peer reviewed; Journal article, 2022)
      The main question investigated is whether additional decision steps can improve vessel behavior produced by the collision avoidance method scenario based model predictive control (SBMPC). The method, which functions by ...

    • 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 ...

    • Topics on Marine Collision Avoidance 

      Hagen, Inger Berge (Doctoral theses at NTNU;2022:311, Doctoral thesis, 2022)
      The increasing number of both industrial and academic initiatives towards maritime autonomy is a clear indication that this is an active and rapidly expanding field. This thesis presents developments contributing to the ...