Publications

Autosea

Publications

Eriksen, Bjørn-Olav Holtung; Bitar, Glenn; Breivik, Morten; Lekkas, Anastasios.
Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13–17, Submitted to Frontiers in Robotics and AI

Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland; Hepsø, Arild; Trnka, Kenan. 
Autonomous Maritime Collision Avoidance: Field Verification of Autonomous Surface Vehicle Behavior in Challenging Scenarios, Acccepted for publication in Journal of Field Robotics

Guzman, Nelson H. Carreras; Kufoalor, D. Kwame Minde; Lundteigen, Mary Ann. 
Combined Safety and Security Risk Analysis using the UFoI-E method: A Case Study of an Autonomous Surface Vessel, In: Proceedings of ESREL, Hannover, Germany, September 2019.

Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. 
The Branching-Course MPC Algorithm for Maritime Collision Avoidance, Journal of Field Robotics, vol. 36, no. 7, pp. 1222-1249, August 2019

Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne.
The Autosea project: Developing closed-loop target tracking and collision avoidance systems, In: Proceedings of ICMASS, Trondheim, Norway, November 2019

Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Helgesen, Håkon Hagen; Engelhardtsen, Øystein.
Sensor Combinations in Heterogeneous Multi-sensor Fusion for Maritime Target Tracking, In: Proceedings of 22nd International Conference on Information Fusion, Ottawa, Canada, 2019

Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland.
Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework, In: Proceedings of 22nd International Conference on Information Fusion, Ottawa, Canada, 2019

Bitar, Glenn; Eriksen, Bjørn-Olav Holtung; Lekkas, Anastasios; Breivik, Morten.
Energy- optimized hybrid collision avoidance for ASVs, In: Proceedings of European Control Conference (ECC), Naples, Italy, 2019

Kufoalor, D. Kwame Minde; Wilthil, Erik Falmår; Hagen, Inger Berge; Brekke, Edmund Førland; Johansen, Tor Arne.
Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control, In: Proceedings of European Control Conference (ECC), Naples, Italy, 2019

Kufoalor, D. Kwame Minde; Brekke, Edmund Førland; Johansen, Tor Arne.
Proactive Collision Avoidance for ASVs using A Dynamic Reciprocal Velocity Obstacles Method, In: Proceedings of IROS, Madrid, Spain, 2018

Ruud, Kristian Amundsen; Brekke, Edmund Førland; Eidsvik, Jo
LIDAR Extended Object Tracking of a Maritime Vessel Using an Ellipsoidal Contour Model, In: Proceedings of Symposium Data Fusion, Bonn, Germany, 2018.

Eriksen, Bjørn-Olav Holtung; Breivik, Morten
A model-based speed and course controller for high-speed ASVs, In: Proceedings of the 11th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles (CAMS), Opatija, Croatia, 2018.

Wilthil, Erik Falmår; Brekke, Edmund Førland; Asplin, Oskar Buset.
Track Initiation for Maritime Radar Tracking with and without Prior Information. In: Proceedings of 21st International Conference on Information Fusion, Cambridge, UK, 2018.

Brekke, Edmund Førland; Chitre, Mandar. 
Success Rates and Posterior Probabilities in Multiple Hypothesis Tracking. In: Proceedings of 21st International Conference on Information Fusion, Cambridge, UK, 2018.

Dalsnes, Bjørnar Ryen; Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland.
The Neighbor Course Distribution Method with Gaussian Mixture Models for AIS-based Vessel Trajectory Prediction. In: Proceedings of 21st International Conference on Information Fusion, Cambridge, UK, 2018

Brekke, Edmund Førland; Chitre, Mandar. 
Relationship between Finite Set Statistics and the Multiple Hypothesis Tracker. IEEE Transactions on Aerospace and Electronic Systems 2018

Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten. 
Radar-based Maritime Collision Avoidance using Dynamic Window. In: Proceedings of IEEE Aerospace Conference, Big Sky, MT, USA, 2018

Hagen, Inger Berge; Kufoalor, D. Kwame Minde; Brekke, Edmund Førland; Johansen, Tor Arne. 
MPC-based Collision Avoidance Strategy for Existing Marine Vessel Guidance Systems. In: Proceedings of ICRA, Gold Coast, Australia, 2018

Brekke, Edmund Førland; Chitre, Mandar. 
The multiple hypothesis tracker derived from finite set statistics. In: 20th International Conference on Information Fusion, Xi’An, China, 2017

Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. 
AIS-based vessel trajectory prediction. In: 20th International Conference on Information Fusion, Xi’An, China, 2017

Brekke, Edmund Førland; Wilthil, Erik Falmår. 
Suboptimal Kalman Filters for Target Tracking with Navigation Uncertainty in One Dimension. I: 2017 IEEE Aerospace Conference, 2017 

Flåten, Andreas Lindahl; Brekke, Edmund Førland. 
Rao-blackwellized particle filter for turn rate estimation. I: 2017 IEEE Aerospace Conference, 2017

Flåten, Andreas Lindahl; Brekke, Edmund Førland. 
Stability of line-of-sight based trajectory-tracking in two dimensions. I: 2017 IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai’i, USA, 2017

Eriksen, Bjørn-Olav Holtung; Breivik, Morten. 
MPC-based Mid-level Collision Avoidance for ASVs using Nonlinear Programming. In: 2017 IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai’i, USA, 2017, pp. 766-772

Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Eriksen, Bjørn-Olav Holtung. 
A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints. I: 2017 IEEE Conference on Control Technology and Applications (CCTA), Kohala Coast, Hawai’i, USA, 2017, pp. 323-330

Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. 
A Target Tracking System for ASV Collision Avoidance Based on the PDAF. In Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer, 2017, pp. 269-288

Eriksen, Bjørn-Olav Holtung; Breivik, Morten. 
Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments. In Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer, 2017, pp. 407-431

Flåten, Andreas Lindahl; Brekke, Edmund Førland. 
Performance Prediction of Tracking Sensors for Surface Vehicle Collision Avoidance. In: Proceedings of the 19th International Conference on Information Fusion, Heidelberg, Germany, 2016

Wilthil, Erik Falmår; Brekke, Edmund Førland. 
Compensation of navigation uncertainty for target tracking on a moving platform. In: Proceedings of the 19th International Conference on Information Fusion, Heidelberg, Germany, 2016

Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. 
A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs. In: Proceedings of 2016 IEEE Conference on Control Applications (CCA), Buenos Aires, Argentina, pp. 499-506

Johansen, Tor Arne; Cristofaro, Andrea; Perez, Tristan. 
Ship Collision Avoidance Using Scenario-Based Model Predictive Control. 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, 2016

Johansen, Tor Arne; Perez, Tristan; Cristofaro, Andrea. 
Ship collision avoidance and COLREGS compliance using simulation-based control behavior selection with predictive hazard assessment. IEEE transactions on intelligent transportation systems 2016; Vol. 17.(12) pp. 3407-3422