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MPC-based Collision Avoidance Strategy for Existing Marine Vessel Guidance Systems
(Journal article; Peer reviewed, 2018)This paper presents a viable approach for incorporating collision avoidance strategies into existing guidance and control systems on marine vessels. We propose a method that facilitates the use of simulation-based Model ... -
MPC-Based mid-level collision avoidance for ASVs using nonlinear programming
(Chapter, 2017)In this paper, we present a mid-level collision avoidance algorithm for autonomous surface vehicles (ASVs) based on model predictive control (MPC) using nonlinear programming. The algorithm enables avoidance of both static ... -
Multi target tracking - Using random finite sets with a hybrid state space and approximations
(Master thesis, 2018)This study provides a thorough investigation into the theoretical framework and background around the standard model used in \ab{mtt}, including \abp{pgm} with \ab{bp}, Bayesian state estimation for a hybrid state space, ... -
Multi-agent formation tracking for autonomous surface vehicles
(Peer reviewed; Journal article, 2020)In this article, the problem of collaborative tracking of an underwater target using autonomous surface vehicles (ASVs) is studied. Distance-based formation control with a collision-avoidance potential function is employed ... -
Multi-agent informed path planning using the probability hypothesis density
(Peer reviewed; Journal article, 2020)An Informed Path Planning algorithm for multiple agents is presented. It can be used to efficiently utilize available agents when surveying large areas, when total coverage is unattainable. Internally the algorithm has a ... -
Multi-Agent Newton-Raphson Optimizaton Over Lossy Networks
(Peer reviewed; Journal article, 2019)In this work, we study the problem of unconstrained convex optimization in a fully distributed multiagent setting, which includes asynchronous computation and lossy communication. In particular, we extend a recently proposed ... -
Multi-criteria Controller Design for Uncertain Isolated Power Systems with Renewable Power Generation
(Master thesis, 2021)For å tilfredsstille målet om høy andel av fornybar energi på offshore olje & gass plattformer, må det utvikles nye regulerings algoritmer som takler frekvensregulering under usikkerhet. På grunn av det lave treghetsmomentet ... -
Multi-fidelity information fusion with concatenated neural networks
(Journal article; Peer reviewed, 2022)Recently, computational modeling has shifted towards the use of statistical inference, deep learning, and other data-driven modeling frameworks. Although this shift in modeling holds promise in many applications like design ... -
A Multi-Layer Framework for Reliability Assessment of Shore-to-Ship Fast Charging System Design
(Peer reviewed; Journal article, 2021)In this paper, a multi-layer framework is proposed to assess the reliability of Shore-to-Ship Charging (S2SC) systems, considering the potential for failures of the main elements, such as power converters and batteries. ... -
Multi-objective control of isolated power systems under different uncertainty approaches
(Peer reviewed; Journal article, 2022)This paper proposes and compares a set of multi-objective supervisory controllers for an isolated power system including a gas turbine operating in load following mode as a dominant source of generation, a battery energy ... -
Multi-objective Energy Optimization Of Locomotions For Underwater Snake Robot
(Master thesis, 2017)Biologically inspired Autonomous Underwater Vehicles (AUVs) have been developed in the recent decades. This thesis focuses on the \glspl{auv} that are biologically inspired by snakes, called Underwater Snake Robots (USRs). ... -
Multi-objective optimization for EEG channel selection and accurate intruder detection in an EEG-based subject identification system
(Peer reviewed; Journal article, 2020)We present a four-objective optimization method for optimal electroencephalographic (EEG) channel selection to provide access to subjects with permission in a system by detecting intruders and identifying the subject. Each ... -
Multi-objective optimization for efficient motion of underwater snake robots
(Journal article; Peer reviewed, 2016)Underwater snake robots constitute a bio-inspired solution within underwater robotics. Increasing the motion efficiency in terms of the forward speed by improving the locomotion methods is a key issue for underwater robots. ... -
A Multi-purpose Software Defined Radio Payload for the HYPSO-2 Satellite
(Peer reviewed; Journal article, 2022)Recent developments in flexible Software Defined Radio (SDR) platforms provide researchers with a framework for small satellite missions that combine several parallel objectives. A part of the mission for the HYPer-spectral ... -
Multi-Resolution Explicit Model Predictive Control: Delta-Model Formulation and Approximation
(Journal article; Peer reviewed, 2013)This paper deals with the explicit solution and approximation of the constrained linear finite time optimal control problem for systems with fast sampling rates. To this aim, the recently developed explicit model predictive ... -
Multi-robot informative path planning under communication constraints
(Master thesis, 2021)Samarbeidende multirobotsystemer utnyttes i større grad fordi de kan utvide mulighetene til et robotsystem utover evnene som hver enkelt robot innehar. Dette er spesielt tydelig når det gjelder heterogene robotlag, der ... -
Multi-sensor multi-target tracking using LIDAR and camera in a harbor environment
(Master thesis, 2021)Andelen ulykker på havet som resultat av menneskelige feil er anslått å være mellom 60 og 90%. I situasjoner der mennesker ofte opptrer ulikt gitt samme utgangspunkt har et autonomt fartøy fordelen av å være forutsigbart, ... -
Multi-Sensor Stereoscopic Visual SLAM for Autonomous Automotive and Seaborne Vehicles
(Master thesis, 2021)I denne oppgaven er det utviklet et navigasjonssystem basert på visuell simultan lokalisering og kartlegging (VSLAM), som er i stand til å inkludere målinger fra Inertial Measurement Unit (IMU) og Global Navigation Satellite ... -
Multi-Sensor Tracking for Autonomous Surface Vehicles
(Doctoral theses at NTNU;2023:84, Doctoral thesis, 2023)Maritime autonomy is rapidly gaining interest both in academic and industrial circles. Safe navigation for autonomous surface vehicles requires a robust and reliable tracking system that maintains and estimates the positions ... -
Multi-Task Attention-Based Convolutional Neural Network for SAS Change Detection with Self-Supervised Pre-Training
(Master thesis, 2023)Undervannsminer utgjør en betydelig trussel mot marinefartøyer, og brukes til å styre bevegelse eller hindre passasje gjennom minelagte farvann. Minemottiltak (MCM) har som mål å lokalisere og uskadeliggjøre miner for å ...