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Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback
(Peer reviewed; Journal article, 2023)This paper presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed ... -
Global Optimisation of Multi-Plant Manganese Alloy Production
(Journal article; Peer reviewed, 2017)This paper studies the problem of multi-plant manganese alloy production. The problem consists of finding the optimal furnace feed of ores, fluxes, coke, and slag that yields output products which meet customer specifications, ... -
Global optimization of multiphase flow networks using spline surrogate models
(Journal article; Peer reviewed, 2016)A general modelling framework for optimization of multiphase flow networks with discrete decision variables is presented. The framework is expressed with the graph and special attention is given to the convexity properties ... -
Globally Exponentially Stable Aided Inertial Navigation with hydroacoustic Measurements from A Single Transponder
(Journal article; Peer reviewed, 2017)This paper provides a novel formulation relating underwater range measurements to body-fixed position when several acoustic transceivers are mounted on the vehicle and only one transponder is placed in the vehicle's ... -
Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder
(Journal article; Peer reviewed, 2018)This paper presents two novel globally exponentially stable position estimators using hydroacoustic measurements from a single transponder to several transceivers on the vehicle. A comparison study of these and several ... -
Globally exponentially stable wind estimation for small fixed-wing UAVs using standard sensors
(Chapter, 2020)This paper considers the estimation of the steady wind component around small fixedwing unmanned aerial vehicles using measurements from a Pitot-static tube and velocity over ground information. A three-stage filter is ... -
Globally Stable Observers for Simultaneous Localization and Mapping
(Doctoral theses at NTNU;2019:349, Doctoral thesis, 2019)This thesis focuses on developing observers that can be applied to simultaneous localization and mapping (SLAM), with an emphasis on developing observers that has theoretical proof of convergence. The motivation for this ... -
Globally Stable Velocity Estimation Using Normalized Velocity Measurement
(Journal article; Peer reviewed, 2019)The problem of estimating velocity from a monocular camera and calibrated inertial measurement unit (IMU) measurements is revisited. For the presented setup, it is assumed that normalized velocity measurements are available ... -
Glucose-insulin metabolism model reduction and parameter selection using sensitivity analysis
(Journal article; Peer reviewed, 2019)Glucose-insulin metabolism models are useful tools for research on diabetes, in development of diabetes-related medical devices like artificial pancreas systems, insulin pumps and continuous glucose monitors, and may also ... -
GNSS-antenna lever arm compensation in aided inertial navigation of UAVs
(Chapter, 2019)This paper considers aided inertial navigation of unmanned aerial vehicles aided with position measurements from one or more global navigation satellite system antennas, where the exact positions of the antennas are assumed ... -
GNSS-denied collaborative navigation of unmanned surface vessels using Maritime Broadband Radio
(Master thesis, 2021) -
GNSS-Denied Navigation using Direction of Arrival from Low-Cost Software Defined Radios and Signals of Opportunity
(Journal article, 2022)This paper describes a novel navigation system for outdoor navigation in conditions where reliable satellite navigation cannot be assumed. It is build around inexpensive of-the-shelf hardware and could be used with several ... -
GNSS-free maritime navigation using DEM data and monocular camera images
(Master thesis, 2023)Potensielle trusler rettet mot satellittbaserte navigasjonssystemer har vekket fornyet interesse for GNSS-uavhengige systemer, som et middel for å sikre fortsatt drift av kritisk infrastruktur. I tråd med dette presenterer ... -
GNSS-Independent Maritime Navigation Using Monocular Camera Images with Digital Elevation Map
(Journal article, 2023)The threat of GNSS service disruption implies the need for GNSS-independent navigation solutions. We introduce a framework that estimates the position of a maritime vessel in a littoral zone through monocular camera images ... -
GPS Guided R/C Car: The Local Bug Test Platform
(Master thesis, 2010)This thesis is a part of the Local Hawk student project where the overall goal is to develop a Autonomous Unmanned Aerial Vehicle (AUAV). The project was initiated by Kongsberg Defence Systems (KDS) and is developed in ... -
GPS-IMU Integration for a Snake Robot with Active Wheels
(Master thesis, 2009)A snake robot will be defined herein as any multilink robot for whose shape and motion capabilities are reminiscent of a snake like PiKo [1]. PiKo is a five links snake robot with active wheels designed by SINTEF in ... -
Gradient-based Methods for Production Optimization of Oil Reservoirs
(Doktoravhandlinger ved NTNU, 1503-8181; 2012:104, Doctoral thesis, 2012)Production optimization for water flooding in the secondary phase of oil recovery is the main topic in this thesis. The emphasis has been on numerical optimization algorithms, tested on case examples using simple hypothetical ... -
Graph-Based Multi-Modal SLAM for Resilience in Sensor-Degraded Environments
(Master thesis, 2021)Pålitelig og nøyaktig samtidig lokalisering og kartlegging (SLAM) er en nødvendig forutsetning for vellykket bruk av autonome systemer, som gjør det mulig for roboter å kartlegge og navigere omgivelsene sine, uten bruk av ... -
Graph-based Path Planning in a Simulated Rough Terrain
(Bachelor thesis, 2023)Denne rapporten beskriver implementasjonen av baneplanleggingsrammeverket, GBPlanner2, for en simulert versjon av Lone Wolf ATVen. Rapporten dekker også implementasjon av viapunktfunksjonalitet. Spesifikasjoner, design og ... -
Graph-theoretic approaches and tools for quantitatively assessing curricula coherence
(Peer reviewed; Journal article, 2020)In this paper, we propose a method to analyse the coherence of existing curricula at higher education institution. We focus our attention to engineering programmes at universities but the proposed method is by no means ...