Thor I. Fossen

Professor of Guidance, Navigation and Control, NTNU AMOS Co-director Department of Engineering Cybernetics Centre for autonomous marine operations and systems

+47 73594361 +47 91897361
O. S. Bragstads plass 2, Elektro D * D338

Background and activities

 

I am co-director at the NTNU Centre for Autonomous Marine Operations and Systems (NTNU AMOS) and Professor of Guidance, Navigation and Control at the Department of Engineering Cybernetics, NTNU.

My research fields include mathematical modeling and simulation of aircraft, marine craft, unmanned vehicles, guidance, navigation and control systems. This includes sensor fusion and observers for navigation systems (inertial and camera-based systems). I have authored 6 international textbooks and I am one of the founders of the company Marine Cybernetics AS, which was aquired by DNV GL. I am involved in several high-tech companies in Trondheim as well as NTNU spin-offs. 

Teaching/Lab:

Awards/Honors:

  • IEEE Fellow, 2016
  • Norwegian Academy of Technological Sciences, 1998
  • Arch T. Colwell Merit Award i 2008 at the SAE World Congress for Nonlinear Observer for Vehicle Velocity Estimation co-authored by  L. Imsland, T. A. Johansen, J. C. Kalkkuhl and A. Suissa.
  • Automatica Best Paper Prize i 2002 for "Nonlinear Passive Weather Optimal Positioning Control (WOPC) System for Ships and Rigs: Experimental Results", Automatica, vol. 37, 2001, pages 701-715 co-authored by Dr. Jann Peter Strand.
  • IFAC MCMC'15 Best Regular Paper Award for a paper entitled "A Virtual Vertical Reference Concept for GNSS/INS Applications at the Sea Surface" together with Torleiv H. Bryne and Tor Arne Johansen.
  • ExxonMobil award to PhD candidates in 2000, 2003 og 2005 for best PhD theses at NTNU

Scientific, academic and artistic work

Displaying a selection of activities. See all publications in the database

Journal publications

Books

Part of book/report

  • Antonelli, Gianluca; Fossen, Thor I.; Yoerger, D.. (2016) Modeling and Control of Underwater Robotics. Springer Handbook of Robotics.
  • Fossen, Thor I.; Perez, Tristan. (2016) Model-based Ship Motion Control Design. Compendium of Ships Hydrodynamics. Practical Tools and Application.
  • Grip, Håvard Fjær; Fossen, Thor I.; Johansen, Tor Arne; Saberi, Ali. (2016) Nonlinear Observer for Attitude, Position and Velocity: Theory and Experiments. Multisensor Attitude Estimation: Fundamental Concepts and Applications.
  • Hansen, Jakob Mahler; Rohac, Jan; Sipos, Martin; Johansen, Tor Arne; Fossen, Thor I.. (2016) Validation and Experimental Testing of Observers for Robust GNSS-Aided Inertial Navigation. Recent Advances in Robotic Systems.
  • Perez, Tristan; Fossen, Thor I.. (2016) Hydrodynamic Models for Motion Control. Compendium of Ships Hydrodynamics. Practical Tools and Application.
  • Fossen, Thor I.. (2015) Mathematical Models of Ships and Underwater Vehicles. Encyclopedia of Systems and Control.
  • Breu, Dominik Andreas; Feng, Le; Fossen, Thor I.. (2012) Optimal Speed and Heading Control for Stabilization of Parametric Oscillations in Ships. Parametric Resonance in Dynamical Systems.
  • Breu, Dominik Andreas; Holden, Christian; Fossen, Thor I.. (2012) Ship Model for Parametric Roll Incorporating the Effects of Time-Varying Speed. Parametric Resonance in Dynamical Systems.
  • Fossen, Thor I.. (2012) Nonlinear Maneuvering Theory and Path-Following Control. Marine Technology and Engineering : CENTEC Anniversary Book.
  • Holden, Christian; Breu, Dominik Andreas; Fossen, Thor I.. (2012) Frequency Detuning Control by Doppler Shift. Parametric Resonance in Dynamical Systems.
  • Holden, Christian; Fossen, Thor I.. (2012) A U-Tank Control System for Ships in Parametric Roll Resonance. Parametric Resonance in Dynamical Systems.
  • Perez, Tristan; Fossen, Thor I.. (2010) Motion Control of Marine Craft. The Control Handbook, Second Edition: Control System Applications, Second Edition.
  • Breivik, Morten; Fossen, Thor I.. (2009) Guidance Laws for Autonomous Underwater Vehicles. Underwater Vehicles.
  • Fossen, Thor I.; Johansen, Tor Arne; Perez, Tristan. (2009) A Survey of Control Allocation Methods for Underwater Vehicles. Underwater Vehicles.
  • Imsland, Lars Struen; Grip, Håvard Fjær; Johansen, Tor Arne; Fossen, Thor I.; Kalkkuhl, Jens; Suissa, Avshalom. (2008) Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter. SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems.
  • Fossen, Thor Inge; Ross, Andrew. (2006) Nonlinear Modelling, Identification, and Control of UUVs. Guidance and Control of Unmanned Marine Vehicles.
  • Perez, Tristan; Fossen, Thor Inge. (2005) Kinematics of Ship Motion. Ship motion control: course keeping and roll stabilisation using rudder and fins.
  • Perez, Tristan; Fossen, Thor Inge. (2005) Ship Kinetics. Ship motion control: course keeping and roll stabilisation using rudder and fins.
  • Fossen, Thor Inge; Strand, Jann Peter. (2000) Position and Velocity Observer Design. The Ocean Engineering Handbook.
  • Fossen, Thor Inge; Strand, Jann Peter. (2000) Weather Optimal Positioning Control. The Ocean Engineering Handbook.
  • Sørensen, Asgeir Johan; Fossen, Thor Inge; Strand, Jann-Peter. (2000) Design of Controllers for Positioning of Marine Vessels. The Ocean Engineering Handbook.
  • Sørensen, Asgeir Johan; Fossen, Thor Inge; Strand, Jann-Peter. (2000) Design of Controllers for Positioning of Marine Vessels. The Ocean Engineering Handbook.
  • Vik, Bjørnar; Shiriaev, Anton S.; Fossen, Thor Inge. (1999) Nonlinear observer design for integration of DGPS and INS. New directions in nonlinear observer design.