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.
Competencies
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
-
Helgesen, Øystein Kaarstad;
Brekke, Edmund Førland;
Stahl, Annette;
Engelhardtsen, Øystein.
(2021)
Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking.
IFAC-PapersOnLine
Academic article
-
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
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
-
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
-
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
2017
-
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
-
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
-
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
2014
-
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
-
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
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
-
Helgesen, Øystein Kaarstad;
Brekke, Edmund Førland;
Stahl, Annette;
Engelhardtsen, Øystein.
(2021)
Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking.
IFAC-PapersOnLine
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
-
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
-
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
-
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
-
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
-
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