Emil Hjelseth Thyri
About
PhD candidate working on autonomy for operation of maritime surface vessels in urban environments.
Focus is on path and trajectory planning with collision avoidance, where the autonomous systems behaviour should be adapted to a dynamic environment with both leisure crafts and commercial traffic. Some challenges are to ensure safety, passenger comfort, predictable maneuvering, and cooperative behaviour by adhering to the regulations for maritime navigation and maneuvering (COLREGs).
Autoferry
Works on "Automation and autonomy" in the Autoferry project, a project that develops enabling technology for autonomous urban electric passenger ferries. A project goal is to develop the first autonomous passenger ferry.
Background
- Master's degree in vehicle navigation and control at the Department of Engineering Cybernetics (2019)
- Control systems engineer at Revolve NTNU (2018)
Publications
2022
-
Brekke, Edmund Førland;
Eide, Egil;
Eriksen, Bjørn-Olav Holtung;
Wilthil, Erik Falmår;
Breivik, Morten;
Skjellaug, Even;
Helgesen, Øystein Kaarstad;
Lekkas, Anastasios M.;
Martinsen, Andreas Bell;
Thyri, Emil Hjelseth;
Torben, Tobias Valentin Rye;
Veitch, Erik Aleksander;
Alsos, Ole Andreas;
Johansen, Tor Arne.
(2022)
milliAmpere: An Autonomous Ferry Prototype.
Journal of Physics: Conference Series (JPCS).
volum 2311.
Academic article
-
Thyri, Emil Hjelseth;
Breivik, Morten.
(2022)
Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints.
Modeling, Identification and Control.
volum 43 (2).
Academic article
2021
-
Matous, Josef;
Basso, Erlend Andreas;
Thyri, Emil Hjelseth;
Pettersen, Kristin Ytterstad.
(2021)
Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems.
2021 IEEE Conference on Control Technology and Applications (CCTA).
Academic chapter/article
-
Thyri, Emil Hjelseth;
Bitar, Glenn Ivan;
Breivik, Morten.
(2021)
A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics.
IFAC-PapersOnLine.
volum 54 (16).
Academic article
-
Thyri, Emil Hjelseth;
Breivik, Morten;
Lekkas, Anastasios M..
(2021)
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters.
IFAC-PapersOnLine.
volum 53 (2).
Academic article
2020
-
Basso, Erlend Andreas;
Thyri, Emil Hjelseth;
Pettersen, Kristin Ytterstad;
Breivik, Morten;
Skjetne, Roger.
(2020)
Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents.
2020 IEEE Conference on Control Technology and Applications (CCTA).
Academic chapter/article
-
Thyri, Emil Hjelseth;
Basso, Erlend Andreas;
Breivik, Morten;
Pettersen, Kristin Ytterstad;
Skjetne, Roger;
Lekkas, Anastasios M..
(2020)
Reactive collision avoidance for ASVs based on control barrier functions.
2020 IEEE Conference on Control Technology and Applications (CCTA).
Academic chapter/article
Scientific articles
-
Brekke, Edmund Førland;
Eide, Egil;
Eriksen, Bjørn-Olav Holtung;
Wilthil, Erik Falmår;
Breivik, Morten;
Skjellaug, Even;
Helgesen, Øystein Kaarstad;
Lekkas, Anastasios M.;
Martinsen, Andreas Bell;
Thyri, Emil Hjelseth;
Torben, Tobias Valentin Rye;
Veitch, Erik Aleksander;
Alsos, Ole Andreas;
Johansen, Tor Arne.
(2022)
milliAmpere: An Autonomous Ferry Prototype.
Journal of Physics: Conference Series (JPCS).
volum 2311.
Academic article
-
Thyri, Emil Hjelseth;
Breivik, Morten.
(2022)
Collision avoidance for ASVs through trajectory planning: MPC with COLREGs-compliant nonlinear constraints.
Modeling, Identification and Control.
volum 43 (2).
Academic article
-
Thyri, Emil Hjelseth;
Bitar, Glenn Ivan;
Breivik, Morten.
(2021)
A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics.
IFAC-PapersOnLine.
volum 54 (16).
Academic article
-
Thyri, Emil Hjelseth;
Breivik, Morten;
Lekkas, Anastasios M..
(2021)
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters.
IFAC-PapersOnLine.
volum 53 (2).
Academic article
Part of book/report
-
Matous, Josef;
Basso, Erlend Andreas;
Thyri, Emil Hjelseth;
Pettersen, Kristin Ytterstad.
(2021)
Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems.
2021 IEEE Conference on Control Technology and Applications (CCTA).
Academic chapter/article
-
Basso, Erlend Andreas;
Thyri, Emil Hjelseth;
Pettersen, Kristin Ytterstad;
Breivik, Morten;
Skjetne, Roger.
(2020)
Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents.
2020 IEEE Conference on Control Technology and Applications (CCTA).
Academic chapter/article
-
Thyri, Emil Hjelseth;
Basso, Erlend Andreas;
Breivik, Morten;
Pettersen, Kristin Ytterstad;
Skjetne, Roger;
Lekkas, Anastasios M..
(2020)
Reactive collision avoidance for ASVs based on control barrier functions.
2020 IEEE Conference on Control Technology and Applications (CCTA).
Academic chapter/article