Blar i NTNU Open på forfatter "Moe, Signe"
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Accelerating Reinforcement Learning with Suboptimal Guidance
Bøhn, Eivind Eigil; Moe, Signe; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)Reinforcement learning in domains with sparse rewards is a difficult problem, and a large part of the training process is often spent searching the state space in a more or less random fashion for learning signals. For ... -
Additive Manufacturing by Robot: An Overview of the State-of-the-Art and Proof-of-Concept Results
Evjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy; Roulet-Dubonnet, Olivier; Brøtan, Vegard; Gellein, Lars Tore (Chapter, 2017)For the last decades, additive manufacturing (AM) has become an ever increasing part of the development of new technology and devices. However, it is still challenging to use this technology on a larger scale. This paper ... -
Collision Avoidance for Autonomous Surface Vehicles Using Velocity Obstacle and Set-Based Guidance.
Myre, Helene (Master thesis, 2016)A good and reliable collision avoidance method is essential when operating Autonomous Surface Vehicles (ASVs) at sea. But even though avoiding collisions is the most important part, making sure the ASV's evasive maneuvers ... -
Deep Reinforcement Learning Attitude Control of Fixed Wing UAVs Using Proximal Policy Optimization
Bøhn, Eivind Eigil; Coates, Erlend Magnus Lervik; Moe, Signe; Johansen, Tor Arne (Chapter, 2019)Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types ... -
Experimental Results for Set-based Control within theSingularity-robust Multiple Task-priority Inverse KinematicsFramework
Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad; Schrimpf, Johannes (Conference object; Journal article; Peer reviewed, 2015)Inverse kinematics algorithms are commonly used in robotic systems to achieve desired behavior, and several methods exist to ensure the achievement of numerous tasks simultaneously. The multiple task-priority inverse ... -
Guidance and Control of Robot Manipulators and Autonomous Marine Robots
Moe, Signe (Doctoral theses at NTNU;2016:322, Doctoral thesis, 2016)This thesis is motivated by the increasing use of robots within numerous fields and in a vast range of applications. The use of robots provides several advantages, e.g. reduced labor costs, increased production and ... -
Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics
Antonelli, Gianluca; Moe, Signe; Pettersen, Kristin Ytterstad (Conference object; Journal article; Peer reviewed, 2015)Inverse kinematics is an active research domain in robotics since several years due to its importance in multiple robotics application. Among the various approaches, differential inverse kinematics is widely used due to ... -
Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks
Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2017)This paper proposes a novel method for kinematic singularity avoidance for robot manipulators. Using set-based singularity avoidance tasks within the singularity-robust multiple task priority framework, avoidance of kinematic ... -
Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents
Fossen, Thor I.; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. ... -
Null-Space-Based Behavior Guidance of PlanarDual-Arm UVMS
Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad (Chapter, 2014) -
Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents
Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid (Conference object; Journal article; Peer reviewed, 2014)This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ... -
Path Following of Underactuated Marine Vessels in the Presence of Ocean Currents
Moe, Signe (Master thesis, 2013)The use of marine vessels, especially underwater vehicles, is rapidly increasing. Autonomous marine vehicles are a huge focus area within the oil and gas industry, and can also be utilized for scientific, environmental and ... -
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 Control for Autonomous Spray Painting
Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on the observation that a small angle between ... -
Set-Based Line-of-Sight (LOS) Path Following with Collision Avoidance for Underactuated Unmanned Surface Vessel
Moe, Signe; Pettersen, Kristin Ytterstad (Conference object; Journal article; Peer reviewed, 2016)A cornerstone ability of an autonomous unmanned surface vessel (USV) is to avoid collisions with stationary obstacles and other moving vehicles while following a predefined path. USVs are typically underactuated, and this ... -
Set-Based Line-of-Sight (LOS) Path Following with Collision Avoidance for Underactuated Unmanned Surface Vessels under the Influence of Ocean Currents
Moe, Signe; Pettersen, Kristin Ytterstad (Chapter, 2017)An essential ability of an autonomous unmanned surface vessel (USV) is to follow a predefined path in the presence of unknown ocean currents while avoiding collisions with both stationary and dynamic obstacles. This paper ... -
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 ... -
Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results
Moe, Signe; Antonelli, Gianluca; Teel, Andrew R.; Pettersen, Kristin Ytterstad; Schrimpf, Johannes (Journal article; Peer reviewed, 2016)Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority ... -
Stability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework
Moe, Signe; Teel, Andrew R.; Antonelli, Gianluca; Pettersen, Kristin Ytterstad (Conference object; Peer reviewed, 2015)Inverse kinematics algorithms are commonly used in robotic systems to accomplish desired behavior, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse ...