Search Results - "Pettersen, Kristin Y."

Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments by Kelasidi, Eleni, Liljeback, Pal, Pettersen, Kristin Y., Gravdahl, Jan Tommy

“…This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational…”
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Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints by Mohammadi, Alireza, Rezapour, Ehsan, Maggiore, Manfredi, Pettersen, Kristin Y.

“…This paper investigates the problem of maneuvering control for planar snake robots. The control objective is to make the center of mass of the snake robot…”
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Autonomous ROV Inspections of Aquaculture Net Pens Using DVL by Amundsen, Herman B., Caharija, Walter, Pettersen, Kristin Y.

“…This article presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on…”
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Global Asymptotic Tracking for Marine Vehicles Using Adaptive Hybrid Feedback by Basso, Erlend A., Schmidt-Didlaukies, Henrik M., Pettersen, Kristin Y., Sorensen, Asgeir J.

“…This article presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence…”
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Path Following Control of Planar Snake Robots Using a Cascaded Approach by Liljeback, P., Haugstuen, I. U., Pettersen, K. Y.

“…This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero…”
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Controllability and Stability Analysis of Planar Snake Robot Locomotion by Liljeback, P, Pettersen, K Y, Stavdahl, Øyvind, Gravdahl, J T

“…This paper contributes to the understanding of snake robot locomotion by employing nonlinear system analysis tools for investigating fundamental properties of…”
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Locomotion Efficiency Optimization of Biologically Inspired Snake Robots by Kelasidi, Eleni, Jesmani, Mansoureh, Pettersen, Kristin, Gravdahl, Jan

“…Snake robots constitute bio-inspired solutions that have been studied due to their ability to move in challenging environments where other types of robots,…”
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Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots by Kelasidi, Eleni, Moe, Signe, Pettersen, Kristin Y, Kohl, Anna M, Liljebäck, Pål, Gravdahl, Jan Tommy

“…The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within…”
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On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws by Fossen, Thor I., Pettersen, Kristin Y.

“…This paper presents a uniform semiglobal exponential stability (USGES) proof for a class of proportional line-of-sight (LOS) guidance laws used for vehicle…”
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Editorial: Advanced Control Methods in Marine Robotics Applications by Bonsignorio, Fabio, Zereik, Enrica, Bibuli, Marco, Pettersen, Kristin Y, Khatib, Oussama

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Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach by Belleter, Dennis, Maghenem, Mohamed Adlene, Paliotta, Claudio, Pettersen, Kristin Y.

“…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…”
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Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments by Caharija, Walter, Pettersen, Kristin Y., Bibuli, Marco, Calado, Pedro, Zereik, Enrica, Braga, Jose, Gravdahl, Jan Tommy, Sorensen, Asgeir J., Milovanovic, Milan, Bruzzone, Gabriele

“…This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles,…”
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Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles by Belleter, Dennis J W, Braga, José, Pettersen, Kristin Y

“…This work presents the results of an experimental verification of a coordinated path following strategy for underactuated marine vehicles. The coordinated path…”
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Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots by Orucevic, Amer, Wrzos-Kaminska, Marianna, Gravdahl, Jan Tommy, Pettersen, Kristin Y.

“…In this article, the Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a…”
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Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots by Kelasidi, Eleni, Liljeback, Pal, Pettersen, Kristin Y., Gravdahl, Jan Tommy

“…Increasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, a number of different control design challenges must be…”
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Path Planning for UGVs Based on Traversability Hybrid A by Thoresen, Marius, Nielsen, Niels Hygum, Mathiassen, Kim, Pettersen, Kristin Y.

“…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…”
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Tracking Control of an Articulated Intervention Autonomous Underwater Vehicle in 6DOF Using Generalized Super-twisting: Theory and Experiments by Borlaug, Ida-Louise G., Pettersen, Kristin Y., Gravdahl, Jan Tommy

“…The articulated intervention autonomous underwater vehicle (AIAUV) is an underwater swimming manipulator with intervention capabilities. Station-keeping and…”
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The Underwater Swimming Manipulator-A Bioinspired Solution for Subsea Operations by Sverdrup-Thygeson, Jorgen, Kelasidi, Eleni, Pettersen, Kristin Y., Gravdahl, Jan Tommy

“…Underwater vehicles have carried out subsea operations for many decades, and since the 1980s, remotely operated vehicles (ROVs) have been essential for the…”
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A 3D reactive collision avoidance algorithm for underactuated underwater vehicles by Wiig, Martin S., Pettersen, Kristin Y., Krogstad, Thomas R.

“…Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a…”
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Damping and Tracking Control Schemes for Nanopositioning by Eielsen, Arnfinn A., Vagia, Marialena, Gravdahl, J. Tommy, Pettersen, Kristin Y.

“…Fast and accurate tracking of reference trajectories is highly desirable in many nanopositioning applications, including scanning probe microscopy. Performance…”
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