• 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 ...
    • Cooperative Control of Formations of Underwater Vehicles 

      Matous, Josef (Doctoral theses at NTNU;NTNU, 2023:347, Doctoral thesis, 2023)
      This thesis investigates various control algorithms for marine vehicles. Most of the algorithms proposed in the thesis address the formation path-following problem for a fleet of underactuated autonomous underwater vehicles, ...
    • Distributed MPC for Formation Path-Following of Multi-Vehicle Systems 

      Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad; Paliotta, Claudio (Peer reviewed; Journal article, 2022)
      The paper considers the problem of formation path-following of multiple vehicles and proposes a solution based on combining distributed model predictive control with parametrizations of the trajectories of the vehicles ...
    • Incremental Self-Deployment of Multi-Agent Networks in Unknown Environments 

      Berdal, Magnus (Master thesis, 2021)
      Utrykkningspersonell i søk- og redningsoperasjoner utsetter seg ofte for ukjente og farlige miljøer. Med den økende kapasiteten til mikrodroner og andre mobile robot-teknologier, kan noen av risikoene utrykkningspersonell ...
    • Incremental self-deployment using virtual potential fields 

      Lone, Erlend (Master thesis, 2021)
      Denne avhandlingen undersøker hvordan mikrodroner kan trinnvis bli sendt inn i et ukjent område for å muliggjøre lokalisering av førsterespondere. Førsterespondere er de første som entrer et katastrofeområde og setter sine ...
    • 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, 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 ...
    • Source Seeking With a Variable Leader Multi-Agent Fixed Topology Network 

      Paliotta, Claudio; Pettersen, Kristin Ytterstad (Chapter, 2015)
      In this paper a source seeking method for multi-agent systems organized with the Leader-Follower scheme is studied. Our objective is to develop a controller for the headings of the agents. The group of agents is characterized ...
    • 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 ...