• A control-oriented model of underwater snake robots exposed to currents 

      Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2015)
      This paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a ...
    • Analysis of underwater snake robot locomotion based on a control-oriented model 

      Kohl, Anna M.; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy (Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics;, Journal article; Conference object; Peer reviewed, 2015)
      This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited ...
    • Guidance and Control of Underwater Snake Robots Using Planar Sinusoidal Gaits 

      Kohl, Anna M. (Doctoral theses at NTNU;2017:292, Doctoral thesis, 2017)
      This thesis presents different approaches for guidance and motion control of underwater snake robots. The robots considered in this thesis are neutrally buoyant and move slowly with a planar, biologically inspired sinusoidal ...
    • Planar maneuvering control of underwater snake robots using virtual holonomic constraints 

      Maggiore, Manfredi; Kohl, Anna M.; Mohammadi, Alireza; Kelasidi, Eleni; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2016)
      This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which ...
    • Planar path following of underwater snake robots in the presence of ocean currents 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M.; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      This letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally ...
    • Robust Control for Articulated Intervention AUVs in the Operational Space 

      Stene, Arnt Erik (Master thesis, 2019)
      Denne avhandlingen undersøker robuste kontrollmetoder innenfor «operational space» formuleringen. Metodene er brukt på et artikulert intervensjons undervannskjøretøy (AIAUV) som krever robust kontroll for å motvirke ...
    • Waypoint guidance control for underwater snake robots exposed to ocean currents 

      Kelasidi, Eleni; Kohl, Anna M.; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter; Conference object; Peer reviewed, 2016)
      This paper presents a waypoint guidance strategy for underwater snake robots, which is an extension of the straight line path following controllers previously proposed by the authors. The proposed waypoint guidance control ...