Blar i NTNU Open på forfatter "Kohl, Anna M"

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    • An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      In this paper, we present a bioinspired underwater snake robot (USR) equipped with a passive caudal (tail) fin. In particular, a highly flexible configuration of a USR is presented, which is capable of locomotion both on ...

    • Economic model predictive control for snake robot locomotion 

      Nonhoff, Marko; köhler, philipp; Kohl, Anna M; Pettersen, Kristin Ytterstad; Allgower, Frank (Journal article; Peer reviewed, 2019)
      Abstract— In this work, the control of snake robot loco-motion via economic model predictive control (MPC) is studied.Only very few examples of applications of MPC to snake robotsexist and rigorous proofs for recursive ...

    • Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin 

      Kelasidi, Eleni; Kohl, Anna M; Pettersen, Kristin Ytterstad; Hoffmann, B; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      Over the last few decades, the robotics community has shown increasing interest in developing bioinspired swimming robots, driven by the need for more economical, more efficient, autonomous, highly flexible and maneuverable ...

    • Model-based LOS path-following control of planar underwater snake robots 

      Kohl, Anna M; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      This chapter presents a model-based control system for straight-line path-following of neutrally buoyant underwater snake robots that move with a planar sinusoidal gait in the presence of an unknown, constant and irrotational ...

    • Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots 

      Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)
      The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ...

    • Set-based path following and obstacle avoidance for underwater snake robots 

      Kohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2017)
      This article presents a set-based guidance strategy for path following with obstacle avoidance for underwater snake robots conducting planar sinusoidal motion. The guidance scheme is designed such that the robot follows a ...

    • Velocity and orientation control of underwater snake robots using absolute velocity feedback 

      Kohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2017)
      This article presents a control system for velocity and orientation control of underwater snake robots using absolute velocity feedback. The control system is structured in a hierarchical way, where the highest priority ...