• Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control 

      Kufoalor, D. Kwame Minde; Wilthil, Erik Falmår; Hagen, Inger Berge; Brekke, Edmund Førland; Johansen, Tor Arne (Chapter, 2019)
      This paper addresses the challenges of making safe and predictable collision avoidance decisions considering uncertainties related to maritime radar tracking. When a maritime radar is used for autonomous collision avoidance, ...
    • Compensation of navigation uncertainty for target tracking on a moving platform 

      Wilthil, Erik Falmår; Brekke, Edmund Førland (Proceedings of the 19th International Conference on Information Fusion, Institute of Electrical and Electronics Engineers (IEEE);, Chapter; Conference object; Peer reviewed, 2016)
      Established state-of-the art methods for target tracking assume perfect knowledge of the sensor position and orientation. This assumption is violated when the tracking sensor is mounted on a moving platform such as a ship. ...
    • Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework 

      Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland (Chapter, 2019)
      Abstract—The detection probability of maritime vessels may change over time, either slowly or more abruptly, due to effects such as sea state and varying aspect angle. If the varying detectability is not accounted for in ...
    • Radar-based Maritime Collision Avoidance using Dynamic Window 

      Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten (Journal article; Peer reviewed, 2018)
      Collision avoidance systems are a key ingredient in developing autonomous surface vehicles (ASVs). Such systems require real-time information about the environment, which can be obtained from transponder-based systems or ...
    • Singularity-Free Navigation System for an Autonomous Unmanned Aerial Vehicle 

      Wilthil, Erik Falmår (Master thesis, 2015)
      For unmanned aerial vehicles (UAVs) to take off and land on limited areas ver- tical take-off and landing capabilities can be greatly beneficial. Such a system is implemented in Kongsberg s LocalHawk project. A key challenge ...
    • Suboptimal Kalman Filters for Target Tracking with Navigation Uncertainty in One Dimension 

      Brekke, Edmund Førland; Wilthil, Erik Falmår (Chapter, 2017)
      The vast majority of literature on target tracking assumes that the position and orientation of the tracking sensor is stationary and/or known. However, for many applications the sensor is mounted on a moving vehicle, whose ...
    • The Autosea project: Developing closed-loop target tracking and collision avoidance systems 

      Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      Autonomous surface vehicles and maritime autonomous surface ships must rely on sense-and-avoid systems for navigating safely among other ships. The main objective of this paper is to present examples of such systems, and ...
    • The branching-course model predictive control algorithm for maritime collision avoidance 

      Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland (Journal article; Peer reviewed, 2019)
      This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise ...