• A Multibeam-Based SLAM Algorithm for Iceberg Mapping Using AUVs 

      Norgren, Petter; Skjetne, Roger (Journal article; Peer reviewed, 2018)
      Using autonomous underwater vehicles (AUVs) for mapping underwater topography of sea-ice and icebergs, or detecting keels of ice ridges, is foreseen as enabling technology in future Arctic marine operations. Wind, current, ...
    • A particle filter SLAM approach to online iceberg drift estimation from an AUV 

      Norgren, Petter; Skjetne, Roger (Chapter; Peer reviewed, 2017)
      Using autonomous underwater vehicles (AUVs) for mapping the underwater topography of sea-ice and icebergs, or detecting keels of ice ridges, is foreseen as an enabling technology in future Arctic offshore operations. This ...
    • Autonomous Homing and Docking of AUV REMUS 100 - Homing and Docking Guidance Algorithm and Relative Localization 

      Ruud, Fredrik Jonsson (Master thesis, 2016)
      This master's thesis presents an algorithm for homing and docking of NTNU's AUV, REMUS 100. Such an algorithm would ease the retrieval of the AUV and facilitate for future underwater docking missions. The homing phase of ...
    • Autonomous underwater vehicles in Arctic marine operations: Arctic marine research and ice monitoring 

      Norgren, Petter (Doctoral theses at NTNU;2018:255, Doctoral thesis, 2018)
      This thesis considers autonomous underwater vehicles (AUVs) in Arctic marine operations. It focuses on their use as a sensor platform in ice monitoring operations and the use of AUVs for Arctic marine research. Arctic AUV ...
    • A Bayesian Approach to Supervisory Risk Control of AUVs Applied to Under-Ice Operations 

      Bremnes, Jens Einar; Thieme, Christoph Alexander; Sørensen, Asgeir Johan; Utne, Ingrid Bouwer; Norgren, Petter (Peer reviewed; Journal article, 2020)
      Autonomous underwater vehicles (AUVs) are efficient sensor-carrying platforms for mapping and monitoring undersea ice. However, under-ice operations impose demanding requirements to the system, as it must deal with uncertain ...
    • Compact Subsea Separation Unit: - Nonlinear Model Predictive Control and Nonlinear Observers 

      Norgren, Petter (Master thesis, 2011)
      In search of increased wealth and public prosperity, the oil industry have met new challenges in their quest for black gold. These challenges have driven Statoil's expertise to develop a compact subsea separation unit. The ...
    • DUNE: Unified Navigation Environment for the REMUS 100 AUV - Implementation, Simulator Development, and Field Experiments 

      Holsen, Sigurd Andreas (Master thesis, 2015)
      This master thesis presents a new software system for developing control systems on the REMUS 100 autonomous underwater vehicle (AUV). Software written to control autonomous vehicles generally involve many components, and ...
    • Is ambient light during the high Arctic polar night sufficient to act as a visual cue for zooplankton? 

      Cohen, Jonathan H.; Berge, Jørgen; Moline, Mark A.; Sørensen, Asgeir Johan; Last, Kim; Falk-Petersen, Stig; Renaud, Paul; Leu, Eva; Grenvald, Julie Cornelius; Cottier, Finlo; Cronin, Heather; Menze, Sebastian; Norgren, Petter; Varpe, Øystein; Daase, Malin; Darnis, Gérald; Johnsen, Geir (Journal article, 2015)
      The light regime is an ecologically important factor in pelagic habitats, influencing a range of biological processes. However, the availability and importance of light to these processes in high Arctic zooplankton communities ...
    • Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar 

      Norgren, Petter; Skjetne, Roger (Journal article; Peer reviewed, 2015)
      Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift ...
    • Marine Autonomous Exploration using a Lidar 

      Ueland, Einar Skiftestad (Master thesis, 2016)
      This thesis reviews the complete design of a control system on a marine surface vessel, capable of autonomous exploration in small-scale marine environments. This involves the development of strategies for map exploration, ...
    • Observations of Turbulence at a Near-Surface Temperature Front in the Arctic Ocean 

      Koenig, Zoé Charlotte; Fer, Ilker; Kolås, Eivind; Fossum, Trygve Olav; Norgren, Petter; Ludvigsen, Martin (Peer reviewed; Journal article, 2020)
      High‐resolution ocean temperature, salinity, current, and turbulence data were collected at an Arctic thermohaline front in the Nansen Basin. The front was close to the sea ice edge and separated the cold and fresh surface ...
    • Sensor-Carrying Platforms 

      Sørensen, Asgeir Johan; Ludvigsen, Martin; Norgren, Petter; Ødegård, Øyvind; Cottier, Finlo Robert (Chapter, 2020)
      Information and communication technology, autonomy, and miniaturization in terms of, for example, microelectromechanical systems are enabling technologies with significant impact on the development of sensors, sensor-carrying ...
    • Subsea Cable Tracking using Sensor Fusion on an Autonomous Underwater Vehicle 

      Østeby, Eirik (Master thesis, 2017)
      Surveys of underwater power cables by Remotely Operated Vehicles (ROVs) are time demanding and expensive. We want to examine the possibility of using an Autonomous Underwater Vehicle (AUV) with magnetometers for estimating ...
    • Trajectory Planning for Navigation Aiding of Autonomous Underwater Vehicles 

      Sture, Øystein; Norgren, Petter; Ludvigsen, Martin (Peer reviewed; Journal article, 2020)
      Autonomous underwater vehicles can perform seabed surveys with a higher resolution and quality than from equivalent ship-mounted sensors. Although high-grade inertial navigation systems aided by Doppler velocity logs can ...
    • Using Autonomous Underwater Vehicles as Sensor Platforms for Ice-Monitoring 

      Norgren, Petter; Skjetne, Roger (Journal article; Peer reviewed, 2014)
      Due to the receding sea-ice extent in the Arctic, and the potentially large undiscovered petroleum resources present north of the Arctic circle, offshore activities in ice-infested waters are increasing. Due to the presence ...