Edmund Førland Brekke

About

Research interests:

My research is focused on estimation with applications in target tracking, navigation and simultaneous localization and mapping (SLAM). In particular, I am interested in data association, situational awareness and target tracking in the context of collision avoidance for autonomous ships. I played a leading role in shaping research on these topics at NTNU as project manager of the Autosea project (www.ntnu.edu/autosea). I am currently project manager for the successive Autosit (www.ntnu.edu/autosit) and Autosight (www.ntnu.edu/autosight) projects, and a work package leader in SFI Autoship (www.ntnu.edu/sfi-autoship/). Some of the use cases of this research include autonomous ferries (www.ntnu.edu/autoferry) and autonomous river barges (etn-autobarge.eu/). Together with other researchers in marine surface autonomy, I am a co-founder of Zeabuz.

Background:

Associate Professor in sensor fusion at the Department of Engineering Cybernetics (NTNU) since 2014. Full professor since 2024. This position was until April 2019 funded as a gift professorship from DNV GL.
Research Fellow at the Acoustic Research Lab (NUS) 2010-2014.
Ph.D. in Engineering Cybernetics (NTNU) 2010. Thesis topic: "Clutter Mitigation for Target Tracking". Supervisors: Oddvar Hallingstad and John Glattetre.
M.Sc. in Industrial Mathematics (NTNU) 2005. Thesis topic: "Bayesian Inversion of Time Lapse Seismic Data using a Blocky Model". Supervisors: Håkon Tjelmeland, Jo Eidsvik and Youness El Ouair.

Teaching:

TTK4250 Sensor fusion (autumn 2019 - )

TTK4225 Systems theory, introduction (autumn 2014-2018)

TK8102 Non-linear state estimation (spring 2016, 2018, 2020, 2024)

Supervision:

Ph.D. students:

Lukas Herrmann - Ship-shore radar tracking system (co-supervisor, part of SFI Autoship)
Nicholas Dalhaug - Near-shore stereo extended object tracking (part of Autosight project)
Trym Anthonsen Nygård - Stereo localization
Martin Baerveldt - Unifying Simultaneous Localization and Mapping (SLAM) and Extended Object Tracking (EOT) for autonomous vessels in confined waterways (part of AutoBarge project).
Daniel Menges - Digital twin for autonomous ships (co-supervisor, part of SFI Autoship)
Henrik Flemmen - GNSS free localization for autonomous ships (part of SFI Autoship)
Emil Martens - Multisensor detection for autonomous ships (co-supervisor, part of SFI Autoship)
Kjetil Vasstein - Digital twin (part of TRUSST project)
Ernesto Lopez - Pose estimation and extended object tracking for situational awareness in autonomous maritime vessels (co-supervisor, part of Autosit project)
Audun Gullikstad Hem - Maritime Target Tracking With Exteroceptive Sensors and Target-Provided Information. Graduated June 2024.
Trym Tengesdal - Risk-based Traffic Rules Compliant Collision Avoidance for Autonomous Ships (co-supervisor). Graduated September 2022.
Øystein Kaarstad Helgesen - Multi-Sensor Tracking for Autonomous Surface Vehicles (part of NTNU Autoferry project). Graduated May 2023.
Lars-Christian Tokle - Sensor fusion for autonomous ferry (affiliated with NTNU Autoferry project)
Georgios Kavallieratos - Security of the Cyber-enabled ship (co-supervisor). Graduated June 2021.
Simen Haugo - Visual SLAM (co-supervisor)
Inger B. Hagen - Topics on Marine Collision Avoidance (affiliated with NTNU Autoferry project). Graduated November 2022.
Marco Leonardi - Designing and Improving Techniques for Underwater Visual SLAM and Obstacle Avoidance (co-supervisor). Graduated May 2023.
Elias Bjørne - Globally stable SLAM using nonlinear observers (co-supervisor). Graduated December 2019.
Erik F. Wilthil - Maritime target tracking with varying sensor performance (affiliated with Autosea project). Graduated October 2019.
Bjørn-Olav H. Eriksen - Motion Control and Collision Avoidance for Autonomous Surface Vehicles (part of Autosea project, co-supervisor). Graduated August 2019.
Albert Sans Muntadas - Path-Planning, Guidance and Navigation tools for Docking of Underactuated AUVs (co-supervisor, funded by AMOS). Graduated June 2018.

M.Sc. students:

See http://folk.ntnu.no/edmundfo/autoseastudents/autoseastudents.html for a list of students involved in autonomous ship activities.

See https://autosit.github.io/ and http://autoferry.github.io for possible specialization project and master thesis topics.

Publications

2022

Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2022) Intention modeling and inference for autonomous collision avoidance at sea. Ocean Engineering
Academic article
Helgesen, Øystein Kaarstad; Vasstein, Kjetil; Brekke, Edmund Førland; Stahl, Annette. (2022) Heterogeneous multi-sensor tracking for an autonomous surface vehicle in a littoral environment. Ocean Engineering
Academic article

2021

Hagen, Inger Berge; Brekke, Edmund Førland. (2021) Kayak Tracking using a Direct Lidar Model. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Brekke, Edmund Førland; Hem, Audun Gullikstad; Tokle, Lars-Christian Ness. (2021) Multitarget Tracking with Multiple Models and Visibility: Derivation and Verification on Maritime Radar Data. IEEE Journal of Oceanic Engineering
Academic article
Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2021) On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC. IFAC-PapersOnLine
Academic article
Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein. (2021) Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking. IFAC-PapersOnLine
Academic article

2020

Skjellaug, Even; Brekke, Edmund Førland; Stahl, Annette. (2020) Feature-Based Laser Odometry for Autonomous Surface Vehicles utilizing the Point Cloud Library. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Bjørne, Elias ; Brekke, Edmund Førland; Bryne, Torleiv Håland; Delaune, Jeff; Johansen, Tor Arne. (2020) Globally Stable Velocity Estimation Using Normalized Velocity Measurement. The International Journal of Robotics Research
Academic article

2019

Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland. (2019) Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework. IEEE conference proceedings
Academic chapter/article/Conference paper
Kufoalor, D. Kwame Minde; Wilthil, Erik Falmår; Hagen, Inger Berge; Brekke, Edmund Førland; Johansen, Tor Arne. (2019) Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland; Hepsø, Arild; Trnka, Kenan. (2019) Autonomous maritime collision avoidance: Field verification of autonomous surface vehicle behavior in challenging scenarios. Journal of Field Robotics (JFR)
Academic article
Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2019) The branching-course model predictive control algorithm for maritime collision avoidance. Journal of Field Robotics (JFR)
Academic article

2018

Dalsnes, Bjørnar Ryen; Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. (2018) The Neighbor Course Distribution Method with Gaussian Mixture Models for AIS-based Vessel Trajectory Prediction. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wilthil, Erik Falmår; Brekke, Edmund Førland; Asplin, Oskar Buset. (2018) Track Initiation for Maritime Radar Tracking with and without Prior Information. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten. (2018) Radar-based Maritime Collision Avoidance using Dynamic Window. IEEE Aerospace Conference. Proceedings
Academic article

2017

Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) Rao-blackwellized particle filter for turn rate estimation. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. (2017) AIS-based vessel trajectory prediction. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Brekke, Edmund Førland; Chitre, Mandar. (2017) The multiple hypothesis tracker derived from finite set statistics. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) A Target Tracking System for ASV Collision Avoidance Based on the PDAF. Springer
Academic chapter/article/Conference paper

2014

Brekke, Edmund Førland; Chitre, Mandar. (2014) A multi-hypothesis solution to data association for the two-frame SLAM problem. The International Journal of Robotics Research
Academic article
Brekke, Edmund Førland; Kalyan, Bharath; Chitre, Mandar. (2014) A novel formulation of the Bayes recursion for single-cluster filtering. IEEE conference proceedings
Academic chapter/article/Conference paper

2012

Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2012) Improved Target Tracking in the Presence of Wakes. IEEE Transactions on Aerospace and Electronic Systems
Academic article

2011

Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2011) The Modified Riccati Equation for Amplitude-Aided Target Tracking in Heavy-Tailed Clutter. IEEE Transactions on Aerospace and Electronic Systems
Academic article

2010

Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2010) Tracking Small Targets in Heavy-Tailed Clutter Using Amplitude Information. IEEE Journal of Oceanic Engineering
Academic article

Journal publications

Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2022) Intention modeling and inference for autonomous collision avoidance at sea. Ocean Engineering
Academic article
Helgesen, Øystein Kaarstad; Vasstein, Kjetil; Brekke, Edmund Førland; Stahl, Annette. (2022) Heterogeneous multi-sensor tracking for an autonomous surface vehicle in a littoral environment. Ocean Engineering
Academic article
Brekke, Edmund Førland; Hem, Audun Gullikstad; Tokle, Lars-Christian Ness. (2021) Multitarget Tracking with Multiple Models and Visibility: Derivation and Verification on Maritime Radar Data. IEEE Journal of Oceanic Engineering
Academic article
Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2021) On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC. IFAC-PapersOnLine
Academic article
Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein. (2021) Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking. IFAC-PapersOnLine
Academic article
Bjørne, Elias ; Brekke, Edmund Førland; Bryne, Torleiv Håland; Delaune, Jeff; Johansen, Tor Arne. (2020) Globally Stable Velocity Estimation Using Normalized Velocity Measurement. The International Journal of Robotics Research
Academic article
Kufoalor, D. Kwame Minde; Johansen, Tor Arne; Brekke, Edmund Førland; Hepsø, Arild; Trnka, Kenan. (2019) Autonomous maritime collision avoidance: Field verification of autonomous surface vehicle behavior in challenging scenarios. Journal of Field Robotics (JFR)
Academic article
Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2019) The branching-course model predictive control algorithm for maritime collision avoidance. Journal of Field Robotics (JFR)
Academic article
Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten. (2018) Radar-based Maritime Collision Avoidance using Dynamic Window. IEEE Aerospace Conference. Proceedings
Academic article
Brekke, Edmund Førland; Chitre, Mandar. (2014) A multi-hypothesis solution to data association for the two-frame SLAM problem. The International Journal of Robotics Research
Academic article
Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2012) Improved Target Tracking in the Presence of Wakes. IEEE Transactions on Aerospace and Electronic Systems
Academic article
Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2011) The Modified Riccati Equation for Amplitude-Aided Target Tracking in Heavy-Tailed Clutter. IEEE Transactions on Aerospace and Electronic Systems
Academic article
Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2010) Tracking Small Targets in Heavy-Tailed Clutter Using Amplitude Information. IEEE Journal of Oceanic Engineering
Academic article

Part of book/report

Hagen, Inger Berge; Brekke, Edmund Førland. (2021) Kayak Tracking using a Direct Lidar Model. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Skjellaug, Even; Brekke, Edmund Førland; Stahl, Annette. (2020) Feature-Based Laser Odometry for Autonomous Surface Vehicles utilizing the Point Cloud Library. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland. (2019) Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework. IEEE conference proceedings
Academic chapter/article/Conference paper
Kufoalor, D. Kwame Minde; Wilthil, Erik Falmår; Hagen, Inger Berge; Brekke, Edmund Førland; Johansen, Tor Arne. (2019) Autonomous COLREGs-Compliant Decision Making using Maritime Radar Tracking and Model Predictive Control. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Dalsnes, Bjørnar Ryen; Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. (2018) The Neighbor Course Distribution Method with Gaussian Mixture Models for AIS-based Vessel Trajectory Prediction. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wilthil, Erik Falmår; Brekke, Edmund Førland; Asplin, Oskar Buset. (2018) Track Initiation for Maritime Radar Tracking with and without Prior Information. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) Rao-blackwellized particle filter for turn rate estimation. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. (2017) AIS-based vessel trajectory prediction. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Brekke, Edmund Førland; Chitre, Mandar. (2017) The multiple hypothesis tracker derived from finite set statistics. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) A Target Tracking System for ASV Collision Avoidance Based on the PDAF. Springer
Academic chapter/article/Conference paper
Brekke, Edmund Førland; Kalyan, Bharath; Chitre, Mandar. (2014) A novel formulation of the Bayes recursion for single-cluster filtering. IEEE conference proceedings
Academic chapter/article/Conference paper

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