Background and activities

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 ( I am currently project manager for the successive Autosit project (, a key researcher of the Autoferry project ( and a work package leader in SFI Autoship (


  • 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.


TTK4250 Sensor fusion (autumn 2019, 2020)

TTK4225 Systems theory, introduction (autumn 2014-2018)

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


Ph.D. students:

  • 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 COLREGS Compliant Collision Avoidance for Autonomous Ships (co-supervisor)
  • 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) 
  • Elias Hasle - Intelligent Situational Awareness (co-supervisor)
  • Georgios Kavallieratos - Security of the Cyber-enabled ship (co-supervisor). Graduated June 2021.
  • Simen Haugo - Visual SLAM (co-supervisor)
  • Inger B. Hagen - Collision avoidance for autonomous ferry (affiliated with NTNU Autoferry project)
  • 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 for a list of students involved in autonomous ship activities.

See and for possible specialization project and master thesis topics.

Scientific, academic and artistic work

Displaying a selection of activities. See all publications in the database









  • Brekke, Edmund Førland; Chitre, Mandar. (2013) Bayesian multi-hypothesis scan matching. OCEANS'13 . MTS/IEEE; Bergen. 2013-06-10 - 2013-06-14.





  • Stakkeland, Morten; Overrein, Øyvind; Brekke, Edmund Førland; Hallingstad, Oddvar. (2009) Tracking of targets with state dependent measurement errors using recursive BLUE filters. FUSION 2009, the 12th International Conference on Information Fusion . IEEE; Seattle. 2009-07-06 - 2009-07-09.