• A hybrid approach to underwater docking of AUVs with cross-current 

      Henriksen, Vegard F; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad; Sans-Muntadas, Albert (Conference object; Journal article; Peer reviewed, 2016)
      This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is ...
    • Learning an AUV docking maneuver with a convolutional neural network 

      Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland (Chapter, 2017)
      This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The ...
    • Path-Planning, Guidance and Navigation Tools for Docking Underactuated AUVs 

      Sans-Muntadas, Albert (Doctoral theses at NTNU;2018:185, Doctoral thesis, 2018)
      Summary This thesis is motivated by the growing usage of autonomous underwater vehicles (AUVs) and, particularly, how providing them with the ability to reach and dock onto underwater docking stations can positively impact ...
    • Spiral path planning for docking of underactuated vehicles with limited FOV 

      Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland (Chapter; Conference object; Peer reviewed, 2017)
      This paper proposes a novel approach for constructing a docking path for underwater vehicles, using a new spiral resulting of combining the Fermat and logarithmic spirals. The proposed spiral path has two properties that ...
    • Transfer Learning in Underwater Operations 

      Skaldebø, Martin Breivik; Sans-Muntadas, Albert; Schjølberg, Ingrid (Journal article, 2019)
      This paper investigates a method for reducing the reality gap that occurs when applying simulated data in training for vision-based operations in a subsea environment. The distinction in knowledge in the simulated and real ...
    • Vehicle Guidance with Control Action Computed by a Rao-Blackwellized Particle Filter 

      Sans-Muntadas, Albert; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad (Chapter, 2017)
      Particle filters can be used in navigation and state estimation problems. They can approximate arbitrary posterior distributions and do not require assumptions of Gaussianity or linearizations. This paper suggests to use ...