Browsing NTNU Open by Author "Nielsen, Mikkel Cornelius"
Now showing items 1-7 of 7
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Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots
Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens (Journal article, 2015)The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steffen (2005). The paper ... -
Constrained multi-body dynamics for modular underwater robots — Theory and experiments
Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens; Schjølberg, Ingrid (Journal article, 2018)This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most ... -
Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition
Nielsen, Mikkel Cornelius; Johansen, Tor Arne; Blanke, Mogens (Chapter, 2018)This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while ... -
Efficient Modelling Methodology for Reconfigurable Underwater Robots
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically ... -
Modular Underwater Robots: Modeling and Docking Control
Nielsen, Mikkel Cornelius (Doctoral theses at NTNU;2018:167, Doctoral thesis, 2018)The objective of this thesis is to investigate the modeling and control of modular underwater robots. This objective is motivated by recent events in the offshore industry, where innovative solutions are needed to cope ... -
Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision
Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan; Blanke, Mogens (Journal article, 2015)This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, ... -
Validation of multi-body modelling methodology for reconfigurable underwater robots
Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens; Schjølberg, Ingrid (Chapter; Peer reviewed, 2016)This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically ...