• A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Savkin, Andrey (Journal article; Peer reviewed, 2017)
      This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The ...
    • Cascade Attitude Observer for the SLAM filtering problem 

      Bjørne, Elias; Johansen, Tor Arne; Brekke, Edmund Førland (Journal article; Peer reviewed, 2017)
      This article presents an attitude observer that exploits both bearing and range measurements from landmarks, in addition to reference vectors such as magnetometer and accelerometer. It is a gyro bias observer in cascade ...
    • Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy 

      Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2017)
      Using atomic force microscopy (AFM) for studying soft, biological material has become increasingly popular in recent years. New approaches allow the use of recursive least squares estimation to identify the viscoelastic ...
    • Meal detection based on non-individualized moving horizon estimation and classification 

      Kölle, Konstanze; Fougner, Anders Lyngvi; Stavdahl, Øyvind (Journal article, 2017)
      Meals are one of the greatest challenges to glucose regulation in diabetes mellitus type 1. Several times each day, food causes heavily elevated blood glucose concentrations that may result in long-term complications. ...
    • Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators 

      Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints ...
    • Nonlinear Observers for Integrated INS/GNSS Navigation – Implementation Aspects 

      Bryne, Torleiv Håland; Hansen, Jakob Mahler; Rogne, Robert Harald; Sokolova, Nadezda; Johansen, Tor Arne; Fossen, Thor I. (Journal article, 2017)
      Navigation is a term with broad usage in everyday life and can mean the act of moving, moving through an unknown environment, ascertaining a craft's position, or even browsing on the Internet. Originally, the term meant ...