Blar i Institutt for teknisk kybernetikk på tidsskrift "Journal of Intelligent and Robotic Systems"
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A Bayesian Approach to Risk-Based Autonomy, with Applications to Contact-Based Drone Inspections
(Journal article; Peer reviewed, 2023)Enabling higher levels of autonomy while ensuring safety requires an increased ability to identify and handle internal faults and unforeseen changes in the environment. This article presents an approach to improve this ... -
Combined Optimal Control and Combinatorial Optimization for Searching and Tracking Using an Unmanned Aerial Vehicle
(Journal article; Peer reviewed, 2018)Combined searching and tracking of objects using Unmanned Aerial Vehicles (UAVs) is an important task with many applications. One way to approach this task is to formulate path-planning as a continuous optimal control ... -
Control System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest System
(Journal article; Peer reviewed, 2021)Automatic recovery is an important step in enabling fully autonomous missions using fixed-wing unmanned aerial vehicles (UAVs) operating from ships or other moving platforms. However, automatic recovery in moving arrest ... -
Navigation Algorithm-Agnostic Integrity Monitoring based on Solution Separation with Constrained Computation Time and Sensor Noise Overbounding
(Peer reviewed; Journal article, 2022)Integrity monitoring (IM) in autonomous navigation has been extensively researched, but currently available solutions are mainly applicable to specific algorithms and sensors, or limited by linearity or 'Gaussianity' ... -
Nonlinear Control with Swing Damping of a Multirotor UAV with Suspended Load
(Journal article; Peer reviewed, 2017)In this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which ... -
Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs
(Journal article; Peer reviewed, 2017)This paper combines fault-dependent control allocation with three different control schemes to obtain fault tolerance in the longitudinal control of unmanned aerial vehicles. The paper shows that fault-dependent control ... -
Phased Array Radio Navigation System on UAVs: In-flight Calibration
(Peer reviewed; Journal article, 2022)Global Navigation Satellite Systems (GNSS) has been the primary positioning solution for Unmanned Aerial Vehicles (UAVs) due to their worldwide coverage, high precision and lightweight receivers. However, GNSS is prone to ... -
Precision Deep-Stall Landing of Fixed-Wing UAVs using Nonlinear Model Predictive Control
(Peer reviewed; Journal article, 2020)To be able to recover a fixed-wing unmanned aerial vehicle (UAV) on a small space like a boat deck or a glade in the forest, a steep and precise descent is needed. One way to reduce the speed of the UAV during landing is ... -
Secure and Efficient Transmission of Vision-Based Feedback Control Signals
(Peer reviewed; Journal article, 2021)An ever-increasing number of autonomous vehicles use bandwidth-greedy sensors such as cameras and LiDARs to sense and act to the world around us. Unfortunately, signal transmission in vehicles is vulnerable to passive and ... -
Survey on Communication and Networks for Autonomous Marine Systems
(Journal article; Peer reviewed, 2018)The rapid development of autonomous systems and Information and Communications Technologies (ICT) create new opportunities for maritime activities. Existing autonomous systems are becoming more powerful and utilise the ... -
Tracking of Ocean Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera
(Journal article, 2017)This paper presents four vision-based tracking system architectures for marine surface objects using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera mounted in a pan/tilt gimbal. The tracking systems ...