Browsing NTNU Open by Author "Paliotta, Claudio"
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Control of Under-actuated Marine Vehicles
Paliotta, Claudio (Doctoral theses at NTNU;2017:240, Doctoral thesis, 2017)In this dissertation, various topics related to control problems for under-actuated marine vehicles are investigated. The thesis is divided into three parts. The first part deals with the source-seeking problem for ... -
Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach
Belleter, Dennis Johannes Wouter; Maghenem, Mohamed; Paliotta, Claudio; Pettersen, Kristin (Journal article; Peer reviewed, 2019)In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the ... -
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach
Maghenem, Mohamed; Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2017)In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a ... -
Path Planning for Formation Control of Autonomous Vehicles
Paliotta, Claudio; Xidias, Elias K.; Aspragathos, Nikos A.; Pettersen, Kristin Ytterstad (Chapter; Conference object, 2016)In this paper a two-stage approach is introduced for optimum path planning of a team of autonomous vehicles in an environment cluttered with obstacles. The vehicles are requested to move in formation from an initial point ... -
Trajectory Tracking and Path Following for Underactuated Marine Vehicles
Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, José; Costa, Maria; Borgesde de Sousa, João Tasso de Figueiredo (Journal article; Peer reviewed, 2018)In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In ...