Edmund Førland Brekke
+4773594382
Elektro D/B2, D335, Gløshaugen, O. S. Bragstads plass 2
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 project (www.ntnu.edu/autosit), a key researcher of the Autoferry project (www.ntnu.edu/autoferry) and a work package leader in SFI Autoship (https://www.ntnu.edu/sfi-autoship/).
Background:
- Associate Professor in sensor fusion at the Department of Engineering Cybernetics (NTNU) since 2014. 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)
Supervision:
Ph.D. students:
- 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 - Fusion between AIS and exteroceptive sensors (integrated PhD, part of Autosit project)
- Trym Tengesdal - Risk-based Traffic Rules Compliant Collision Avoidance for Autonomous Ships (co-supervisor). Graduated September 2022.
- Øystein Kaarstad Helgesen - Sensor fusion for autonomous ferry (part of NTNU Autoferry project)
- 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 - Underwater sensor fusion based SLAM and path planning for AUVs (co-supervisor)
- 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
- 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. volum 252.
- Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2022) Intention modeling and inference for autonomous collision avoidance at sea. Ocean Engineering. volum 266 (4).
2021
- 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. volum 46 (4).
- Hagen, Inger Berge; Brekke, Edmund Førland. (2021) Kayak Tracking using a Direct Lidar Model. Global Oceans 2020: Singapore – U.S. Gulf Coast.
- Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein. (2021) Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking. IFAC-PapersOnLine. volum 53 (2).
- Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2021) On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC. IFAC-PapersOnLine. volum 53 (2).
2020
- 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. volum 39 (1).
- Skjellaug, Even; Brekke, Edmund Førland; Stahl, Annette. (2020) Feature-Based Laser Odometry for Autonomous Surface Vehicles utilizing the Point Cloud Library. 2020 IEEE 23rd International Conference on Information Fusion (FUSION).
2019
- 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). volum 36 (7).
- 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).
- 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. 2019 18th European Control Conference (ECC).
- Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland. (2019) Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework. 22nd International Conference on Information Fusion.
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. 2018 21st International Conference on Information Fusion (FUSION).
- 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. volum 2018-March.
- Wilthil, Erik Falmår; Brekke, Edmund Førland; Asplin, Oskar Buset. (2018) Track Initiation for Maritime Radar Tracking with and without Prior Information. 2018 21st International Conference on Information Fusion (FUSION).
2017
- Brekke, Edmund Førland; Chitre, Mandar. (2017) The multiple hypothesis tracker derived from finite set statistics. 2017 20th International Conference on Information Fusion.
- Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) Rao-blackwellized particle filter for turn rate estimation. 2017 IEEE Aerospace Conference.
- Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. (2017) AIS-based vessel trajectory prediction. 2017 20th International Conference on Information Fusion.
- Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) A Target Tracking System for ASV Collision Avoidance Based on the PDAF. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
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. volum 34 (1).
- Brekke, Edmund Førland; Kalyan, Bharath; Chitre, Mandar. (2014) A novel formulation of the Bayes recursion for single-cluster filtering. 2014 IEEE Aerospace Conference; Big Sky, MT; United States; 1-8 March 2014.
2012
- Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2012) Improved Target Tracking in the Presence of Wakes. IEEE Transactions on Aerospace and Electronic Systems. volum 48 (2).
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. volum 47 (4).
2010
- Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2010) Tracking Small Targets in Heavy-Tailed Clutter Using Amplitude Information. IEEE Journal of Oceanic Engineering. volum 35 (2).
Journal publications
- 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. volum 252.
- Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2022) Intention modeling and inference for autonomous collision avoidance at sea. Ocean Engineering. volum 266 (4).
- 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. volum 46 (4).
- Helgesen, Øystein Kaarstad; Brekke, Edmund Førland; Stahl, Annette; Engelhardtsen, Øystein. (2021) Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking. IFAC-PapersOnLine. volum 53 (2).
- Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2021) On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC. IFAC-PapersOnLine. volum 53 (2).
- 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. volum 39 (1).
- 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). volum 36 (7).
- 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).
- 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. volum 2018-March.
- 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. volum 34 (1).
- Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2012) Improved Target Tracking in the Presence of Wakes. IEEE Transactions on Aerospace and Electronic Systems. volum 48 (2).
- 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. volum 47 (4).
- Brekke, Edmund Førland; Hallingstad, Oddvar; Glattetre, John. (2010) Tracking Small Targets in Heavy-Tailed Clutter Using Amplitude Information. IEEE Journal of Oceanic Engineering. volum 35 (2).
Part of book/report
- Hagen, Inger Berge; Brekke, Edmund Førland. (2021) Kayak Tracking using a Direct Lidar Model. Global Oceans 2020: Singapore – U.S. Gulf Coast.
- Skjellaug, Even; Brekke, Edmund Førland; Stahl, Annette. (2020) Feature-Based Laser Odometry for Autonomous Surface Vehicles utilizing the Point Cloud Library. 2020 IEEE 23rd International Conference on Information Fusion (FUSION).
- 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. 2019 18th European Control Conference (ECC).
- Wilthil, Erik Falmår; Bar-Shalom, Yaakov; Willett, Peter; Brekke, Edmund Førland. (2019) Estimation of Target Detectability for Maritime Target Tracking in the PDA Framework. 22nd International Conference on Information Fusion.
- 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. 2018 21st International Conference on Information Fusion (FUSION).
- Wilthil, Erik Falmår; Brekke, Edmund Førland; Asplin, Oskar Buset. (2018) Track Initiation for Maritime Radar Tracking with and without Prior Information. 2018 21st International Conference on Information Fusion (FUSION).
- Brekke, Edmund Førland; Chitre, Mandar. (2017) The multiple hypothesis tracker derived from finite set statistics. 2017 20th International Conference on Information Fusion.
- Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) Rao-blackwellized particle filter for turn rate estimation. 2017 IEEE Aerospace Conference.
- Hexeberg, Simen; Flåten, Andreas Lindahl; Eriksen, Bjørn-Olav Holtung; Brekke, Edmund Førland. (2017) AIS-based vessel trajectory prediction. 2017 20th International Conference on Information Fusion.
- Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2017) A Target Tracking System for ASV Collision Avoidance Based on the PDAF. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
- Brekke, Edmund Førland; Kalyan, Bharath; Chitre, Mandar. (2014) A novel formulation of the Bayes recursion for single-cluster filtering. 2014 IEEE Aerospace Conference; Big Sky, MT; United States; 1-8 March 2014.