Aurora Haraldsen

About

I'm a postdoctoral researcher at NTNU, focusing on underwater robotics and data-driven control. I'm a part of the ERC funded project CRÈME, lead by Professor Kristin Y. Pettersen.

Research

I'm a postdoctoral researcher contributing to the ERC Advanced Grant project CRÈME, aimed at developing advanced control systems for light underwater vehicle-manipulator systems. My project will investigate how the recent ground-breaking developments in data-driven AI can be combined with more traditional control frameworks to achieve further improved performance and robustness while also providing the safety guarantees that are required for the safety-critical systems that the autonomous robots considered in CRÈME constitute.

Control of light vehicle-manipulator systems (CRÈME)

In this project we aim to develop a control framework that enables light and freely moving autonomous robots that can perform complex and versatile operations, involving highly precise and forceful physical interactions, in challenging environments.

Publications

2024

Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. IEEE Transactions on Control Systems Technology
Academic article
Haraldsen, Aurora; Wiig, Martin Syre; D. Ames, Aaron; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Guidance of Underactuated Marine Vehicles in Dynamic Environments using Velocity Obstacles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper

2023

Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2023) Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments. IEEE conference proceedings
Academic chapter/article/Conference paper

2022

Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
Academic article

2021

Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
Academic article

Journal publications

Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. IEEE Transactions on Control Systems Technology
Academic article
Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
Academic article

Part of book/report

Haraldsen, Aurora; Wiig, Martin Syre; D. Ames, Aaron; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Guidance of Underactuated Marine Vehicles in Dynamic Environments using Velocity Obstacles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2023) Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
Academic chapter/article/Conference paper

Språkvelger

Aurora Haraldsen