Journal publications

• Høeg, Sigmund Hennum; Vaaler, Aksel; Liu, Chaoqi; Egeland, Olav; Du, Yilun. (2026) Hybrid Diffusion for Simultaneous Symbolic and Continuous Planning. IEEE Robotics and Automation Letters
  Academic article
• Vaaler, Aksel; Husa, Svein Jostein; Menges, Daniel; Larsen, Thomas Nakken; Rasheed, Adil. (2024) Modular control architecture for safe marine navigation: Reinforcement learning with predictive safety filters. Artificial Intelligence
  Academic article

Part of book/report

• Vaaler, Aksel; Robinson, Haakon Rennesvik; Tengesdal, Trym; Rasheed, Adil. (2023) Modular Collision Avoidance Using Predictive Safety Filters.
  Academic chapter

Student thesis or dissertation

• Rasheed, Adil; Vaaler, Aksel; Husa, Svein Jostein. (2023) Safe Reinforcement Learning in Marine Navigation and Control: Using a Predictive Safety Filter for Safety Verification on Autonomous Surface Vessels. Norges teknisk-naturvitenskapelige universitet
  Master thesis