• A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle ...
    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...
    • A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2017)
      This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we ...
    • An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...
    • Attitude synchronization in spacecraft formations: Theoretical and experimental results 

      Krogstad, Thomas Røbekk (Doktoravhandlinger ved NTNU, 1503-8181; 2010:14, Doctoral thesis, 2010)
      This thesis addresses attitude synchronization in spacecraft formations. In addition to theoretical results the thesis presents the design and implementation of an experimental platform for spacecraft attitude synchroniz ...
    • Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      Avoiding collisions is a crucial ability for unmanned vehicles. In this paper, we present the constant avoidance angle algorithm, a reactive method for collision avoidance. It can be used to avoid both static and moving ...
    • Horizontal Collision Avoidance for Autonomous Underwater Vehicles 

      Eriksen, Bjørn-Olav Holtung (Master thesis, 2015)
      Vast amounts of research has been done on the subject of collision avoidance. However, limited effort has been put into adapting collision avoidance algorithms to vehicles with second order non-holonomic constraints, such ...
    • Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy 

      Caharija, Walter; Syre Wiig, Martin; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2016)
      This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is ...
    • Uniform semiglobal exponential stability of integral line-of-sight guidance laws 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Elsevier IFAC Publications / IFAC Proceedings series;, Conference object; Journal article; Peer reviewed, 2015)
      This paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has ...