Blar i Publikasjoner fra CRIStin - NTNU på forfatter "Caharija, Walter"

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    • Autonomous Monitoring and Inspection Operations with UUVs in Fish Farms 

      Kelasidi, Eleni; Su, Biao; Caharija, Walter; Føre, Martin; Pedersen, Magnus Oshaug; Frank, Kevin (Peer reviewed; Journal article, 2022)
      In this study, a general control framework for autonomous operations in highly complex and dynamically changing environments such as fish farms is proposed and experimentally validated. Since fish farms feature an environment ...

    • Autonomous Monitoring and Inspection Operations with UUVs in Fish Farms 

      Kelasidi, Eleni; Su, Biao; Caharija, Walter; Føre, Martin; Pedersen, Magnus Oshaug; Frank, Kevin (Peer reviewed; Journal article, 2022)
      In this study, a general control framework for autonomous operations in highly complex and dynamically changing environments such as fish farms is proposed and experimentally validated. Since fish farms feature an environment ...

    • Autonomous ROV inspections of aquaculture net pens using DVL 

      Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)
      This article presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured ...

    • Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments 

      Caharija, Walter; Pettersen, Kristin Ytterstad; Bibuli, Marco; Calado, Pável; Zereik, Enrica; Braga, Jose; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Milovanovic, Milan; Bruzzone, Gabriele (Journal article; Peer reviewed, 2016)
      This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the ...

    • Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy 

      Caharija, Walter; Syre Wiig, Martin; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2016)
      This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is ...

    • Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances 

      Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy (Chapter, 2019)
      An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ...

    • Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents 

      Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even (Journal article; Peer reviewed, 2012)
      A control strategy allowing underactuated underwater vehicles to accomplish 3D straight line path following tasks in the presence of ocean currents is developed. The ocean current is considered constant, irrotational and ...

    • Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents 

      Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid (Journal article; Peer reviewed, 2014)
      This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ...

    • Robust adaptive backstepping DP control of ROVs 

      Ohrem, Sveinung Johan; Amundsen, Herman Biørn; Caharija, Walter; Holden, Christian (Peer reviewed; Journal article, 2022)
      Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, ...

    • Semiglobal exponential stability of a counter-current and co-current guidance scheme 

      Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)
      A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ...