• 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 Planning for UGVs Based on Traversability Hybrid A* 

      Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)
      In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability ...