Background and activities

PhD Topic: Motion Planning and Control of Articulated Intervention-AUVs

Supervisor: Kristin Y. Pettersen

Co-supervisors: Jan Tommy Gravdahl and Asgeir J. Sørensen

Scientific, academic and artistic work

Journal publications

  • Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2020) MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control. IFAC-PapersOnLine.
  • Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2020) Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs. IFAC-PapersOnLine.

Part of book/report

  • 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).
  • 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).