Kristin Y. Pettersen

About

Kristin Ytterstad Pettersen (1969) is a Professor at the Department of Engineering Cybernetics. She has a PhD and an MSc in Engineering Cybernetics from NTNU.

She is also an Adjunct Professor at the Norwegian Defence Research Establishment (FFI).

She is one of the founders of the company Eelume AS.

Research Interests

Nonlinear control theory
Motion control of mechanical systems, with a special emphasis on marine robotics and snake robotics
Autonomous vehicles
Robotics
Cooperative and coordinated control of mechanical systems
Underactuated and nonholonomic systems

Awards/Honours

NTNU Award for Outstanding Research and Artistic Activities 2021
ERC-2020-AdG, European Research Council Advanced Grant
2020 IEEE CSS Hendrik W. Bode Lecture Prize recipient
2019-2022 Distinguished lecturer of the IEEE Control Systems Society
2018, Appointed member of the Academy of the Royal Norwegian Society of Sciences and Letters
2017, IEEE Transactions on Control Systems Technology Outstanding Paper Award, for the paper: W. Caharija, K.Y. Pettersen, M. Bibuli, P. Calado, E. Zereik, J. Braga, J.T. Gravdahl, A.J. Sørensen, M. Milovanovic and G. Bruzzone, "Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments”, IEEE Transactions on Control Systems Technology, Vol. 24, No. 5, 2016
2017, Appointed IEEE Fellow
2013, Appointed member of the Norwegian Academy of Technological Sciences – NTVA
2006, IEEE Transactions on Control Systems Technology Outstanding Paper Award, for the paper: K.Y. Pettersen, F. Mazenc and H. Nijmeijer, “Global Uniform Asymptotic Stabilization of an Underactuated Surface Vessel: Experimental Results”, IEEE Transactions on Control Systems Technology, Vol. 12, No.6, Nov. 2004

Selected Research Projects

2024-2026 Principal Investigator. Project title: ERC PoC Underwater Robots for efficient ocean energy harvesting (UR4energy). Funded by the European Research Council.
Budget: 150 kEUR.
2021-2026 Principal Investigator. Project title: ERC AdG Control of light vehicle-manipulator systems (CRÈME). Funded by the European Research Council.
Budget: 2.5 MEUR.
2020-2025 Principal Investigator. Project title: NTNU VISTA Center for autonomous robotic operations subsea (CAROS). Funded by The Norwegian Academy of Science and Letters and Equinor. Total budget: 45 MNOK.
2020-2023 Key Scientist. Project title: Autonomous Underwater Fleets: from AUVs to AUFs through adaptive communication and cooperation schemes. FRIPRO project funded by the Research Council of Norway. Project partners: NTNU and SINTEF. Budget: 14.6 MNOK.
2019-2023 Project Manager. Project title: Autonomous Robots for Ocean Sustainability (AROS). IKTPLUSS project funded by the Research Council of Norway. Budget: 21.5 MNOK.
2013-2023 Key scientist. Autonomous Marine Operations and Systems (NTNU AMOS). Centre of excellence funded by the Research Council of Norway. Project Manager for Project 2: “Marine robotic platforms”.
Project partners: NTNU, SINTEF, Statoil, DNV. Total budget; 600 MNOK
2011-2015 Project Manager. Project title: Snake Locomotion in Challenging Environments (SLICE). FRITEK project funded by the Research Council of Norway. Project partners: NTNU and SINTEF. Budget; 13.9 MNOK
2009-2014 Project Manager. Project title: Control, Information and Communication Systems for Environmental and Safety Critical Systems (CICS). SUP project funded by the Research Council of Norway. Budget; 15 MNOK
2009-2014 Key Scientist. Project title: Next Generation Robotics for Norwegian Industry (NextGenRob). Project partners: SINTEF, NTNU, Statoil, Hydro, Tronrud Engineering, Glen Dimplex Nordic, SbSeating (HÅG) and RobotNorge. Budget; 36 MNOK

Work experience

2015-2016 CEO and co-founder, Eelume AS
2014- Adjunct Professor, Norwegian Defence Research Establishment (FFI)
2013-2023 Key Scientist, CoE for Autonomous Marine Operations and Systems (NTNU AMOS)
2011-2013 Head of Department, Dept. Engineering Cybernetics, NTNU
2009-2011 Vice-head of Department, Dept. Engineering Cybernetics, NTNU
2010-2013 Director, NTNU Strategic area ICT Programme of Robotics
2008 Guest Professor, Section for Automation and Control, Aalborg University
2002- Professor, Department Engineering Cybernetics, NTNU
2001-2013 Scientific Advisor, SINTEF ICT
1999 Visiting Fellow, Dept. Mech. and Aerospace Eng., Princeton University, NJ

Selected Board/Council work

2023-2024 Vice President Member Activities, and member of the IEEE Control Systems Society Executive Committee
2022- Board member, Eelume AS
2022-2024 Board member, IEEE Control Systems Society - Board of Governors
2020-2023 European Control Association (EUCA) Council Member
2020-2023 Vice-chair IFAC Membership Committee
2017-2023 International Federation of Automatic Control (IFAC) Council member
2017-2020 Vice-chair IFAC Administration & Finance Committee
2016-2021 Board member, Eelume AS
2012-2014 Board member, IEEE Control Systems Society – Board of Governors
2011-2013 Vice-chairman, Norwegian Defence Research Establishment (FFI)
2011-2013 Deputy board member, Norwegian Smartgrid Centre
2010-2013 Deputy council member, SINTEF
2010-2017 Board member, NTNU Applied Underwater Robotics Laboratory
2007-2011 Board member, Norwegian Defence Research Establishment (FFI)
2008-2015 Council member, SINTEF Information and Communication Technology
2007-2011 Board member, NTNU/SINTEF Gemini centre of Advanced Robotics

Selected Editorial Work

2022 Co-Editor-in-Chief (Robotics), IFAC Journal of Mechatronics
2021-2022 Associate editor, Field Robotics
2019-2022 Senior Editor, IEEE Transactions on Control Systems Technology
2015-2018 Review Editor, Robotic Control Systems, Frontiers in Robotics and Al
2012- Section Editor of “Control of Marine Vessels”, Encyclopedia of Systems and Control
2012-2015 Associate Editor, IEEE Control Systems Magazine
2010-2015 Associate Editor, IEEE Transactions on Control Systems Technology

She has supervised 29 graduated PhD students and is currently supervising 17 PhD students.

Publications

2024

Orucevic, Amer; Foseid, Eirik Lothe; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot. Proceedings of the 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
Academic article
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Model Predictive Task-Priority Control using Control Lyapunov Functions. Institute of Electrical and Electronics Engineers (IEEE)
Academic chapter/article/Conference paper
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Model Predictive Task-Priority Control using Control Lyapunov Functions. 2024 European Control Conference
Academic article
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Marley, Mathias Huuse; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles. Proceedings of the 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
Academic article
Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Automatic alignment of underwater snake robots operating in wakes of bluff bodies. Control Engineering Practice
Academic article
Hoff, Simon Andreas Hagen; Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad. (2024) Communication-aware formation control for networks of AUVs. European Journal of Control
Academic article
Matous, Josef; Paliotta, Claudio; Pettersen, Kristin Ytterstad; Varagnolo, Damiano. (2024) The Hand Position Concept for Control of Underactuated Underwater Vehicles. IEEE Transactions on Control Systems Technology
Academic article
Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio. (2024) A Distributed NSB Algorithm for Formation Path Following. IEEE Transactions on Control Systems Technology
Academic article
Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. IEEE Transactions on Control Systems Technology
Academic article
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2024) Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees. IEEE Control Systems Letters
Academic article

2023

Lie, Erling Syversveen; Matous, Josef; Pettersen, Kristin Ytterstad. (2023) Formation Control of Underactuated AUVs Using the Hand Position Concept. IEEE conference proceedings
Academic chapter/article/Conference paper
Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2023) Modeling and Hybrid Feedback Control of Underwater Vehicles. NTNU
Doctoral dissertation
Dyrhaug, Jan Inge; Tveter, Erling; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Synergistic PID and Output Feedback Control on Matrix Lie Groups. IFAC-PapersOnLine
Academic article
Gushkov, Ivan Ivanov; Orucevic, Amer; Pettersen, Kristin Ytterstad; Yao, Weijia; Gravdahl, Jan Tommy. (2023) Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Orucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2023) Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments. IEEE conference proceedings
Academic chapter/article/Conference paper
D'Antuono, Gianluca; Pettersen, Kristin Ytterstad; Buonocore, Luca Rosario; Gravdahl, Jan Tommy; Di Castro, Mario. (2023) Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation. IFAC Papers Online
Academic chapter/article/Conference paper
Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio. (2023) Singularity-free Formation Path Following of Underactuated AUVs. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2023) Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback. IEEE Control Systems Letters
Academic article
Lysø, Mads Erlend Bøe; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2023) Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion. Elsevier
Academic chapter/article/Conference paper
Nysæther, Torje; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Hierarchical Compliance-Control-Based Docking of a UVMS. OCEANS
Academic article
Iversflaten, Markus Høgevoll; Sæbø, Bjørn Kåre; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors. IFAC-PapersOnLine
Academic article
Das, Hemjyoti; Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Ott, Christian. (2023) Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. IEEE conference proceedings
Academic chapter/article/Conference paper
Seel, Katrine; Gravdahl, Jan Tommy; Gros, Sebastien Nicolas; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Moe, Signe. (2023) Learning for Model Predictive Control. NTNU
Doctoral dissertation
Orucevic, Amer; Wrzos-Kaminska, Marianna; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2023) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE Transactions on Control Systems Technology
Academic article

2022

Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad; Paliotta, Claudio. (2022) Distributed MPC for Formation Path-Following of Multi-Vehicle Systems. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
Academic article
Gravdahl, Irja; Stavdahl, Øyvind; Koushan, Atussa; Løwer, Jostein; Pettersen, Kristin Ytterstad. (2022) Modeling for Hybrid Obstacle-Aided Locomotion (HOAL) of Snake Robots. IFAC-PapersOnLine
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) The generalized super-twisting algorithm with adaptive gains. International Journal of Robust and Nonlinear Control
Academic article
Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems. IEEE conference proceedings
Academic chapter/article/Conference paper
Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine. (2022) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2022) A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships. IEEE conference proceedings
Academic chapter/article/Conference paper
Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2022) Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback. IEEE Transactions on Automatic Control
Academic article
Scarpa, Maria; Nortmann, Benita; Pettersen, Kristin Ytterstad; Mylvaganam, Thulasi. (2022) Data-driven control of planar snake robot locomotion. IEEE conference proceedings
Academic chapter/article/Conference paper

2021

Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Comparison of two second-order sliding mode control algorithms for an articulated intervention AUV: Theory and experimental results. Ocean Engineering
Academic article
Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Y.. (2021) Path Planning for UGVs Based on Traversability Hybrid A*. IEEE Robotics and Automation Letters
Academic article
Eek, Åsmund; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2021) Formation Path Following Control of Underactuated USVs. European Journal of Control
Academic article
Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad. (2021) Autonomous ROV inspections of aquaculture net pens using DVL. IEEE Journal of Oceanic Engineering
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
Academic chapter/article/Conference paper
Matous, Josef; Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad. (2021) Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2021) Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties. IEEE conference proceedings
Academic chapter/article/Conference paper
Bonsignorio, Fabio; Zereik, Enrica; Bibuli, Marco; Pettersen, Kristin Ytterstad; Khatib, Oussama. (2021) Editorial: Advanced Control Methods in Marine Robotics Applications. Frontiers in Robotics and AI
Editorial
Seel, Katrine; Grøtli, Esten Ingar; Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2021) Neural Network-based Model Predictive Control with Input-to-State Stability. American Control Conference (ACC)
Academic article
Seel, Katrine; Haring, Mark A. M.; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2021) MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2021) Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs. IFAC-PapersOnLine
Academic article

2020

Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Set-based collision avoidance applications to robotic systems. Mechatronics (Oxford)
Academic 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. IEEE conference proceedings
Academic chapter/article/Conference paper
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2020) Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV. IEEE conference proceedings
Academic chapter/article/Conference paper
Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk. (2020) A 3D reactive collision avoidance algorithm for underactuated underwater vehicles. Journal of Field Robotics (JFR)
Academic 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. IEEE conference proceedings
Academic chapter/article/Conference paper
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments. IEEE Transactions on Control Systems Technology
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems. Mechatronics (Oxford)
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) The generalized super-twisting algorithm with adaptive gains. IEEE conference proceedings
Academic chapter/article/Conference paper

2019

Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2019) Guidance of Autonomous Underwater Vehicles. Springer
Chapter
Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Vehicles. Springer
Chapter
Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Snake Robots. Springer
Chapter
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2019) Collision Avoidance and Path Following for Underactuated Marine Vehicles. Doktoravhandlinger ved NTNU (2019:103)
Doctoral dissertation
Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2019) Path planning and guidance for underactuated vehicles with limited field-of-view. Ocean Engineering
Academic article
Pettersen, Kristin Ytterstad. (2019) Corrigendum to “Lyapunov sufficient conditions for uniform semiglobal exponential stability” [Automatica 78 (2017) 97–102](S0005109816304964)(10.1016/j.automatica.2016.12.004). Automatica
Errata
Wrzos-Kaminska, Marianna; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Path following control for articulated intervention-AUVs using geometric control of reduced attitude. IFAC-PapersOnLine
Academic article
Nonhoff, Marko; köhler, philipp; Kohl, Anna M; Pettersen, Kristin Ytterstad; Allgower, Frank. (2019) Economic model predictive control for snake robot locomotion. IEEE Conference on Decision and Control. Proceedings
Academic article
Belleter, Dennis Johannes Wouter; Braga, Jose; Pettersen, Kristin Ytterstad. (2019) Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles. Frontiers in Robotics and AI
Academic article
Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Combined kinematic and dynamic control of an underwater swimming manipulator. IFAC-PapersOnLine
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm. American Control Conference (ACC)
Academic article
Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy. (2019) Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots. Frontiers in Robotics and AI
Academic article
Wiig, Martin Syre; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2019) Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm. IEEE Transactions on Control Systems Technology
Academic article
Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy. (2019) Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2019) AUV guidance and docking using a convolutional neural network. IFAC Journal of Systems and Control
Academic article

2018

Pettersen, Kristin Ytterstad. (2018) 2nd IEEE Conference on Control Technology and Applications. IEEE conference proceedings IEEE conference proceedings
Academic anthology/Conference proceedings
Kelasidi, Eleni; Kohl, Anna M; Pettersen, Kristin Ytterstad; Hoffmann, Bjørn Håvard; Gravdahl, Jan Tommy. (2018) Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin. Annual Reviews in Control
Academic article
Borlaug, Ida-Louise Garmann; Gravdahl, Jan Tommy; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Loria, Antonio. (2018) Trajectory tracking for underwater swimming manipulators using a super twisting algorithm. Asian journal of control
Academic article
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2018) Semiglobal exponential stability of a counter-current and co-current guidance scheme. IFAC-PapersOnLine
Academic article
Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, José; Costa, Maria; Borgesde de Sousa, João Tasso de Figueiredo. (2018) Trajectory Tracking and Path Following for Underactuated Marine Vehicles. IEEE Transactions on Control Systems Technology
Academic article
Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2018) Modeling of Articulated Underwater Robots for Simulation and Control. IEEE Press
Academic chapter/article/Conference paper
Amundsen, Morten Fyhn; Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2018) Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix. IEEE conference proceedings
Academic chapter/article/Conference paper
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) The underwater swimming manipulator — A bioinspired solution for subsea operations. IEEE Journal of Oceanic Engineering
Academic article
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Parameter Estimation in Atomic Force Microscopy: Nanomechanical Properties and High-speed Demodulation. Doktoravhandlinger ved NTNU (146)
Doctoral dissertation
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments. IEEE Transactions on Control Systems Technology
Academic article
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. IEEE conference proceedings
Academic chapter/article/Conference paper
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2018) An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Locomotion efficiency optimization of biologically inspired snake robots. Applied Sciences
Academic article
Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Set-Based Control for Autonomous Spray Painting. IEEE Transactions on Automation Science and Engineering
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF. IFAC-PapersOnLine
Academic article

2017

Sanfilippo, Filippo; Hatledal, Lars Ivar; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2017) A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface. IEEE Journal of Oceanic Engineering
Academic article
Maghenem, Mohamed; Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2017) Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach. IFAC-PapersOnLine
Academic article
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2017) Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy. IEEE Control Systems
Academic article
Moe, Signe; Pettersen, Kristin Ytterstad. (2017) Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Fossen, Thor I.; Nijmeijer, Henk; Pettersen, Kristin Ytterstad. (2017) Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer Lecture notes in control and information sciences (-)
Academic anthology/Conference proceedings
Kohl, Anna M; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Model-based LOS path-following control of planar underwater snake robots. Lecture notes in control and information sciences
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan. (2017) Modeling and Propulsion Methods of Underwater Snake Robots. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Velocity and orientation control of underwater snake robots using absolute velocity feedback. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2017) Control of Under-actuated Marine Vehicles. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (240)
Doctoral dissertation
Fossen, Thor I.; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2017) Preface. Lecture notes in control and information sciences
Editorial
Kohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Set-based path following and obstacle avoidance for underwater snake robots. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2017) Spiral path planning for docking of underactuated vehicles with limited FOV. IEEE conference proceedings
Academic chapter/article/Conference paper
Sans-Muntadas, Albert; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad. (2017) Vehicle Guidance with Control Action Computed by a Rao-Blackwellized Particle Filter. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2017) A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics. IEEE Conference on Decision and Control. Proceedings
Academic article
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Savkin, Andrey. (2017) A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. IEEE Control Systems
Academic article
Sans-Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland; Kelasidi, Eleni. (2017) Learning an AUV docking maneuver with a convolutional neural network. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Pettersen, Kristin Ytterstad. (2017) Snake Robots. Annual Reviews in Control
Academic literature review
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. IEEE Transactions on Robotics
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy. (2017) An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin. IFAC-PapersOnLine
Academic article
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2017) Leader-Follower Synchronisation for a Class of Underactuated Systems. Springer
Academic chapter/article/Conference paper
Pettersen, Kristin Ytterstad. (2017) Lyapunov sufficient conditions for uniform semiglobal exponential stability. Automatica
Academic article

2016

Sanfilippo, Filippo; Hatledal, Lars Ivar; Styve, Arne; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2016) Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms. IEEE Journal of Oceanic Engineering
Academic article
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) A control framework for biologically inspired underwater swimming manipulators equipped with thrusters. IFAC-PapersOnLine
Academic article
Sans Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2016) Vision Restricted Path Planning and Control for Underactuated Vehicles. IFAC-PapersOnLine
Academic article
Sans-Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland; Henriksen, Vegard Flage. (2016) A hybrid approach to underwater docking of AUVs with cross-current. OCEANS
Academic article
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Modeling of underwater swimming manipulators. IFAC-PapersOnLine
Academic article
Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. (2016) A modified dynamic window algorithm for horizontal collision avoidance for AUVs. IEEE conference proceedings
Academic chapter/article/Conference paper
Syre Wiig, Martin; Caharija, Walter; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad. (2016) Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy. IFAC-PapersOnLine
Academic article
Moe, Signe; Pettersen, Kristin Ytterstad; Fossen, Thor I.; Gravdahl, Jan Tommy. (2016) Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents. IEEE Mediterranean Conference on Control & Automation
Academic article
Moe, Signe; Pettersen, Kristin Ytterstad. (2016) Set-based Line-of-Sight (LOS) path following with collision avoidance for underactuated unmanned surface vessel. IEEE Mediterranean Conference on Control & Automation
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Bibuli, Marco; Calado, Pável; Zereik, Enrica; Braga, Jose. (2016) Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments. IEEE Transactions on Control Systems Technology
Academic article
Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Transactions on Control Systems Technology
Academic article
Kelasidi, Eleni; Kohl, Anna Magdalena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Waypoint guidance control for underwater snake robots exposed to ocean currents. IEEE conference proceedings
Academic chapter/article/Conference paper
Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Multi-objective optimization for efficient motion of underwater snake robots. Artificial Life and Robotics
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2016) Locomotion Efficiency of Underwater Snake Robots with Thrusters. IEEE conference proceedings
Academic chapter/article/Conference paper
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. IEEE robotics & automation magazine
Academic article
Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2016) Geometric path following with ocean current estimation for ASVs and AUVs. American Control Conference (ACC)
Academic article
Xidias, Elias K.; Paliotta, Claudio; Aspragathos, Nikos A.; Pettersen, Kristin Ytterstad. (2016) Path Planning for Formation Control of Autonomous Vehicles . Springer
Academic chapter/article/Conference paper
Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2016) Leader-follower synchronization with disturbance rejection. IEEE conference proceedings
Academic chapter/article/Conference paper
Kohl, Anna Magdalena; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Planar maneuvering control of underwater snake robots using virtual holonomic constraints. Bioinspiration & Biomimetics
Academic article
Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Path Following for Underactuated Marine Vessels. IFAC-PapersOnLine
Academic article
Pettersen, Kristin Ytterstad; Liljebäck, Pål. (2016) Slangeroboter forbedrer subsea inspeksjon og vedlikehold. DYP - Magasinet fra Forening for Fjernstyrt Undervannsteknologi
Popular scientific article
Kohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2016) Planar path following of underwater snake robots in the presence of ocean currents. IEEE Robotics and Automation Letters
Academic article
Moe, Signe; Antonelli, Gianluca; Teel, Andrew R.; Pettersen, Kristin Ytterstad; Schrimpf, Johannes. (2016) Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results. Frontiers in Robotics and AI
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Hofmann, Andreas. (2016) Formation Control of Underactuated Bio-inspired Snake Robots. Artificial Life and Robotics
Academic article
Vagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2016) Nonlinear Tracking Control Scheme for a Nanopositioner. Mediterranean Conference on Control and Automation (MED)
Academic article
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) The Underwater Swimming Manipulator - A Bio-Inspired AUV. IEEE conference proceedings
Academic chapter/article/Conference paper

2015

Fossen, Thor I.; Pettersen, Kristin Ytterstad; Galeazzi, Roberto. (2015) Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces. IEEE Transactions on Control Systems Technology
Academic article
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Path Following for Formations of Underactuated Marine Vessels under Influence of Constant Ocean Currents. IEEE Conference on Decision and Control. Proceedings
Academic article
Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2015) Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Conference on Decision and Control. Proceedings
Academic article
Sanfilippo, Filippo; Zhang, Houxiang; Pettersen, Kristin Ytterstad. (2015) The new architecture of ModGrasp for mind-controlled low-cost sensorised modular hands. IEEE conference proceedings
Academic chapter/article/Conference paper
Fernandes, Daniel de Almeida; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Donha, Decio C. (2015) Output feedback motion control system for observation class ROVs based on a high-gain state observer: Theoretical and experimental results. Control Engineering Practice
Academic article
Antonelli, Gianluca; Moe, Signe; Pettersen, Kristin Ytterstad. (2015) Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics. Mediterranean Conference on Control and Automation (MED)
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad. (2015) Model-based Locomotion Control of Underactuated Snake Robots. Norges teknisk-naturvitenskapelige universitet Norges teknisk-naturvitenskapelige universitet
Doctoral dissertation
Sanfilippo, Filippo; Pettersen, Kristin Ytterstad. (2015) XBee positioning system with embedded haptic feedback for dangerous offshore operations: a preliminary study. IEEE conference proceedings
Academic chapter/article/Conference paper
Eriksen, Bjørn-Olav Holtung; Pettersen, Kristin Ytterstad; Syre Wiig, Martin; Krogstad, Thomas Røbekk. (2015) Horizontal Collision Avoidance for Autonomous Underwater Vehicles. Norwegian University of Science and Technology
Masters thesis
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances. American Control Conference (ACC)
Academic article
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Eielsen, Arnfinn Aas. (2015) Topography and force imaging in atomic force microscopy by state and parameter estimation. American Control Conference (ACC)
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad. (2015) Controlling Kuka Industrial Robots : Flexible Communication Interface JOpenShowVar. IEEE robotics & automation magazine
Academic article
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns. Robotics and Biomimetics
Academic article
Sanfilippo, Filippo; Pettersen, Kristin Ytterstad. (2015) A Sensor Fusion Wearable Health-Monitoring System with Haptic Feedback. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater robots. IFAC-PapersOnLine
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Rekdalsbakken, Webjørn; Pettersen, Kristin Ytterstad. (2015) A wave simulator and active heave compensation framework for demanding offshore crane operations. Canadian Conference on Electrical and Computer Engineering (CCECE)
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Calado, Pável; Braga, Jose. (2015) A comparison between the ILOS guidance and the vector field guidance. IFAC-PapersOnLine
Academic article
Paliotta, Claudio; Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Adaptive source seeking with leader-follower formation control. IFAC-PapersOnLine
Academic article
Kohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2015) Analysis of underwater snake robot locomotion based on a control-oriented model. IEEE conference proceedings
Academic chapter/article/Conference paper
Sans Muntadas, Albert; Brekke, Edmund Førland; Hegrenæs, Øyvind; Pettersen, Kristin Ytterstad. (2015) Navigation and probability assessment for successful AUV docking using USBL. IFAC-PapersOnLine
Academic article
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2015) Uniform semiglobal exponential stability of integral line-of-sight guidance laws. IFAC-PapersOnLine
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater snake robot locomotion. Mediterranean Conference on Control and Automation (MED)
Academic article
Ohrem, Sveinung Johan; Pettersen, Kristin Ytterstad; Møller, Ments Tore; Slettebø, Sverre Wendt. (2015) Development of a Dynamic Positioning System for Merlin WR200 ROV. NTNU
Masters thesis
Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad. (2015) Trajectory Tracking of Under-Actuated Marine Vehicles. IEEE conference proceedings
Academic chapter/article/Conference paper
Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2015) Source Seeking With a Variable Leader Multi-Agent Fixed Topology Network. IEEE conference proceedings
Academic chapter/article/Conference paper
Sanfilippo, Filippo; Pettersen, Kristin Ytterstad. (2015) OpenMRH: a Modular Robotic Hand Generator Plugin for Open Rave. IEEE conference proceedings
Academic chapter/article/Conference paper
Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad; Schrimpf, Johannes. (2015) Experimental Results for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework. IEEE conference proceedings
Academic chapter/article/Conference paper
Sanfilippo, Filippo; Weustink, Paul B T; Pettersen, Kristin Ytterstad. (2015) A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment. IEEE Press
Academic chapter/article/Conference paper
Kohl, Anna; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) A control-oriented model of underwater snake robots exposed to currents. IEEE conference proceedings
Academic chapter/article/Conference paper
Moe, Signe; Teel, Andrew R.; Antonelli, Gianluca; Pettersen, Kristin Ytterstad. (2015) Stability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework. IEEE conference proceedings
Academic chapter/article/Conference paper
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) 3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents. IEEE conference proceedings
Academic chapter/article/Conference paper
Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2015) Modeling, Control and Energy Efficiency of Underwater Snake Robots. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (140)
Doctoral dissertation
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents. IEEE conference proceedings
Academic chapter/article/Conference paper

2014

Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Modeling of underwater snake robots moving in a vertical plane in 3D. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid. (2014) Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents. American Control Conference (ACC)
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A waypoint guidance strategy for underwater snake robots. Mediterranean Conference on Control and Automation (MED)
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Bjerkeng, Magnus Christian; Falco, Pietro; Natale, Ciro; Pettersen, Kristin Ytterstad. (2014) Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-based Control of Robotic Systems. IEEE Transactions on Robotics
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan; Candeloro, Mauro; Gravdahl, Jan Tommy. (2014) Relative velocity control and integral line of sight for path following of autonomous surface vessels: Merging intuition with theory. Journal of Engineering for the Maritime Environment (Part M)
Academic article
Sanfilippo, Filippo; Zhang, Houxiang; Pettersen, Kristin Ytterstad; Salvietti, G.; Prattichizzo, Domenico. (2014) ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands. IEEE conference proceedings
Academic chapter/article/Conference paper
Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid. (2014) Path Following of Underactuated Marine Underwater Vehicles in the Presence of Unknown Ocean Currents. The American Society of Mechanical Engineers (ASME)
Academic chapter/article/Conference paper
Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2014) On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Pettersen, Kristin Ytterstad. (2014) A mapping approach for controlling different maritime cranes and robots using ANN. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni. (2014) Path following control of planar snake robots using virtual holonomic constraints: theory and experiments. Robotics and Biomimetics
Academic article
Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad. (2014) Maneuvering Control of Planar Snake Robots Based on a Simplified Model. IEEE conference proceedings
Academic chapter/article/Conference paper
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2014) Improved Counter-Current and Co-Current Guidance of Underactuated Marine Vehicles with Semiglobal Stability Properties. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad. (2014) Null-Space-Based Behavior Guidance of Planar Dual-Arm UVMS. IEEE conference proceedings
Academic chapter/article/Conference paper
Bibuli, Marco; Caharija, Walter; Pettersen, Kristin Ytterstad; Bruzzone, Gabriele; Caccia, Massimo; Zereik, Enrica. (2014) ILOS Guidance - Experiments and Tuning. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) A 3D motion planning framework for snake robots. Curran Associates, Inc.
Academic chapter/article/Conference paper
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Mamba - A waterproof snake robot with tactile sensing. Curran Associates, Inc.
Academic chapter/article/Conference paper
Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad; Mohammadi, Alireza; Maggiore, Manfredi. (2014) Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model. Proceedings of the IEEE Conference on Control Applications
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad. (2014) JOpenShowVar: An open-source cross-platform communication interface to Kuka robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory. IEEE conference proceedings
Academic chapter/article/Conference paper
Pettersen, Kristin Ytterstad. (2014) Underactuated Marine Control Systems. Springer
Chapter
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Integral Line-of-Sight for path following of underwater snake robots. Proceedings of the IEEE Conference on Control Applications
Academic article
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Compliant Control of the Body Shape of Snake Robots. Curran Associates, Inc.
Academic chapter/article/Conference paper
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Modeling of underwater snake robots. Curran Associates, Inc.
Academic chapter/article/Conference paper
Bjerkeng, Magnus Christian; Schrimpf, Johannes; Myhre, Torstein Anderssen; Pettersen, Kristin Ytterstad. (2014) Fast dual-arm manipulation using variable admittance control: Implementation and experimental results. Curran Associates, Inc.
Academic chapter/article/Conference paper
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Caharija, Walter; Pettersen, Kristin Ytterstad. (2014) Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (316)
Doctoral dissertation
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A Control-Oriented Model of Underwater Snake Robots. IEEE conference proceedings
Academic chapter/article/Conference paper
From, Pål Johan; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2014) Vehicle-Manipulator Systems. Springer Advances in Industrial Control (1)
Academic monograph

2013

Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - Modelling, Mechatronics, and Control. Springer Advances in Industrial Control (.)
Academic monograph
Holden, Christian; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot. IEEE conference proceedings
Academic chapter/article/Conference paper
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - From Biology to Nonlinear Control. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Bjerkeng, Magnus Christian; Pettersen, Kristin Ytterstad. (2013) Sensor-based Control of Industrial Manipulators. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (240)
Doctoral dissertation
Bjerkeng, Magnus Christian; falco, pietro; natale, ciro; Pettersen, Kristin Ytterstad. (2013) Discrete-time stability analysis of a control architecture for heterogeneous robotic systems. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Damping and Tracking Control Schemes for Nanopositioning. IEEE/ASME transactions on mechatronics
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2013) Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE conference proceedings
Academic chapter/article/Conference paper
Sanfilippo, Filippo; Hatledal, Lars Ivar; Schaathun, Hans Georg; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2013) A universal Control architecture for maritime Cranes and robots using Genetic algorithms as a possible mapping approach. IEEE conference proceedings
Academic chapter/article/Conference paper
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Marine Surface Vessels with Saturated Transverse Actuators. American Control Conference (ACC)
Academic article
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Lateral undulation of snake robots: A simplified model and fundamental properties. Robotica (Cambridge. Print)
Academic article
Vagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Design of a nonlinear damping control scheme for nanopositioning. IEEE ASME International Conference on Advanced Intelligent Mechatronics
Academic article
Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning. Elsevier IFAC Publications / IFAC Proceedings series
Academic article

2012

From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2012) On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems. Journal of Dynamic Systems Measurement, and Control
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) Snake Robot Locomotion in Environments With Obstacles. IEEE/ASME transactions on mechatronics
Academic article
Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2012) Adaptive feed-forward hysteresis compensation for piezoelectric actuators. Review of Scientific Instruments
Academic article
Galeazzi, Roberto; Pettersen, Kristin Ytterstad. (2012) Controlling Parametric Resonance: Induction and Stabilization of Unstable Motions. Springer
Academic chapter/article/Conference paper
Bjerkeng, Magnus; Pettersen, Kristin Ytterstad. (2012) A new Coriolis matrix factorization. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2012) A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan. (2012) Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Caharija, Walter; Candeloro, Mauro; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2012) Relative Velocity Control and Integral LOS for Path Following of Underactuated Surface Vessels in the Presence of Ocean Currents. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents. American Control Conference (ACC)
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A review on modelling, implementation, and control of snake robots. Robotics and Autonomous Systems
Academic article
Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2012) Path following control of planar snake robots using a cascaded approach. IEEE Transactions on Control Systems Technology
Academic article

2011

Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Stability analysis of snake robot locomotion based on averaging theory. IEEE Conference on Decision and Control. Proceedings
Academic article
Bjerkeng, Magnus; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik. (2011) Stereographic projection for industrial manipulator tasks: Theory and experiments. IEEE conference proceedings
Academic chapter/article/Conference paper
Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes. (2011) Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results. IEEE conference proceedings
Academic chapter/article/Conference paper
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators. American Institute of Aeronautics and Astronautics (AIAA)
Academic chapter/article/Conference paper
Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2011) Experimental investigation of a path following controller for planar snake robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Experimental investigation of fundamental properties of snake robot locomotion. IEEE conference proceedings
Academic chapter/article/Conference paper
Burger, Mernout; Pettersen, Kristin Ytterstad. (2011) Disturbance Rejection using Conditional Integrators. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (4)
Doctoral dissertation
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Controllability and Stability Analysis of Planar Snake Robot Locomotion. IEEE Transactions on Automatic Control
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. IEEE transactions on robotics and automation
Academic article
Wondergem, Michiel; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2011) Output Feedback Tracking of Ships. IEEE Transactions on Control Systems Technology
Academic article
Eielsen, Arnfinn Aas; Burger, Mernout; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2011) PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Path following control of snake robots in unstructured environments. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad. (2011) Waypoint guidance control of snake robots. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Two new design concepts for snake robot locomotion in unstructured environments. Paladyn - Journal of Behavioral Robotics
Academic article
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Singularity-free dynamic equations of spacecraft-manipulator systems. Acta Astronautica
Academic article
Børhaug, Even; Pavlov, Alexey; Panteley, Elena; Pettersen, Kristin Ytterstad. (2011) Straight Line Path Following for Formations of Underactuated Marine Surface Vessels. IEEE Transactions on Control Systems Technology
Academic article

2010

Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion. IEEE transactions on robotics and automation
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE conference proceedings
Academic chapter/article/Conference paper
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE conference proceedings
Academic chapter/article/Conference paper
Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2010) Experimental investigation of a path following controller for planar snake robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Experimental investigation of fundamental properties of snake robot locomotion. IEEE conference proceedings
Academic chapter/article/Conference paper
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Curved Trajectory Tracking for Surface Vessel Formations. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2010) On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. Proceedings of the International Astronautical Congress
Academic article
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Trajectory Tracking for Marine Vehicles under Constant Disturbances: Controller Design and Tuning. OCEANS
Academic article
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Smooth Transitions Between Trajectory Tracking and Path Following for Single Vehicles and Formations. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2010) Curved Trajectory Tracking for Surface Vessels under Constant External Disturbances. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Trajectory Tracking for Marine Vehicles under Constant Disturbances: Controller Design and Tuning. IEEE conference proceedings
Academic chapter/article/Conference paper
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A hybrid model of obstacle-aided snake robot locomotion. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2010) Path following control of planar snake robots using a cascaded approach. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2010) A snake robot with a contact force measurement system for obstacle-aided locomotion. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of AUV-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Vogl, Lukas. (2010) Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. (2010) Leader-Follower Synchronization of Mechanical Systems. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (58)
Doctoral dissertation
From, Pål Johan; Duindam, Vincent; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sastry, Shankar. (2010) Singularity-free dynamic equations of vehicle-manipulator systems. Simulation modelling practice and theory
Academic article

2009

Transeth, Aksel A.; Pettersen, Kristin Ytterstad; Liljeback, Pål. (2009) A survey on snake robot modeling and locomotion. Robotica (Cambridge. Print)
Academic literature review
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Proceedings IEEE International Conference on Intelligent Robots and Systems. IEEE conference proceedings IEEE conference proceedings
Academic anthology/Conference proceedings
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2009) A Kinematicc versus Dynamic Observer Approach to Coordination Control in terms of Estimation Principle and Practical Performance. European Union Control Association
Academic chapter/article/Conference paper
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Controllability analysis of planar snake robots influenced by viscous ground friction. IEEE conference proceedings
Academic chapter/article/Conference paper
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Stability analysis of snake robot locomotion based on Poincaré maps. IEEE conference proceedings
Academic chapter/article/Conference paper
Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2009) Maritime Surveillance and Monitoring using Autonomous Vehicles with Conditional Integrator Based Control. OCEANS
Academic article
Liljeback, Pål; Fjerdingen, Sigrud Aksnes; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2009) A snake robot joint mechanism with a contact force measurement system. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2009) Modelling and control of obstacle-aided snake robot locomotion based on jam resolution. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Burger, Mernout; Pavlov, Alexey; Børhaug, Even; Pettersen, Kristin Ytterstad. (2009) Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Constant Ocean Currents. American Control Conference (ACC)
Academic article
Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2009) Conditional Integrators for Path Following and Formation Control of Marine Vessels under Constant Disturbances. Elsevier IFAC Publications / IFAC Proceedings series
Academic article

2008

Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2008) Operational space synchronization of two robot manipulators through a virtual velocity estimate. MIC Journal: Modeling, Identification and Control
Academic article
Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Børhaug, Even. (2008) AUVSAT - an experimental platform for spacecraft formation flying. Proceedings of the International Astronautical Congress
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2008) Integral LOS Control for Path Following of Underactuated Marine Surface Vessels in the Presence of Constant Ocean Currents. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2008) A new perspective on stable inversion of non-minimum phase nonlinear systems. MIC Journal: Modeling, Identification and Control
Academic article
Holden, Christian; Pettersen, Kristin Ytterstad. (2008) Global Uniform Asymptotic Lyapunov Stabilization of a Vectorial Chained-Form System with a Smooth Time-Varying Control Law. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2008) Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments. IEEE Transactions on Control Systems Technology
Academic article
Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad. (2008) Modular Pneumatic Snake Robot: 3D Modelling, Implementation and Control. MIC Journal: Modeling, Identification and Control
Academic article
Transeth, Aksel Andreas; Leine, RI; Glocker, C; Pettersen, Kristin Ytterstad. (2008) 3-D snake robot motion: Nonsmooth modeling, simulations, and experiments. IEEE transactions on robotics and automation
Academic article
Transeth, Aksel Andreas; Leine, RI; Glocker, C; Pettersen, Kristin Ytterstad; Liljeback, Pål. (2008) Snake robot obstacle-aided locomotion: Modeling, simulations, and experiments. IEEE transactions on robotics and automation
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2008) Nonlinear Control and Synchronization of Mechanical Systems. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (298)
Doctoral dissertation

2007

Transeth, Aksel Andreas; van de Wouw, Nathan; Pavlov, Alexey; Hespanha, Joao p; Pettersen, Kristin Ytterstad. (2007) Tracking Control for Snake Robot Joints. IEEE conference proceedings
Academic chapter/article/Conference paper
Transeth, Aksel Andreas; Liljebäck, Pål; Pettersen, Kristin Ytterstad. (2007) Snake Robot Obstacle Aided Locomotion: An Experimental Validation of a Non-smooth Modeling Approach. IEEE conference proceedings
Academic chapter/article/Conference paper
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2007) Operational space synchronization of two robot manipulators through a virtual velocity estimate. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pivano, Luca; Johansen, Tor Arne; Pettersen, Kristin Ytterstad. (2007) A Model-based Ocean Current Obeserver for 6DOF Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) Straight line path following for formations of underactuated underwater vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) A new perspective on stable inversion of non-minimum phase nonlinear systems. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) Stable inversion of non-minimum phase nonlinear systems: a convergent systems approach. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pavlov, Alexey; Børhaug, Even; Panteley, Elena; Pettersen, Kristin Ytterstad. (2007) Straigh line path following for formation of underactuated surface vessels. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Holden, Christian; Pettersen, Kristin Ytterstad. (2007) Robust Globally Exponentially Stabilizing Control Law for Fully Actuated 6-DOF AUVs. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad; Wondergem, Michiel; Nijmeijer, Henk. (2007) Output Synchronization Control of Ship Replenishment Operations: Theory and Experiments. Control Engineering Practice
Academic article
Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2007) Output feedback control of underwater vehicles with current estimation. International Journal of Control
Academic article
Alminde, Lars; Bendtsen, Jan Dimon; Stoustrup, Jakob; Pettersen, Kristin Ytterstad. (2007) Objective directed control using local minimisation for an autonomous underwater vehicle. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2007) Output feedback control of slender body underwater vehicles with current estiamtion. International Journal of Control
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2007) Motion Coordination of Mechanical Systems. Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control. Doktoravhandlinger ved NTNU (2007:60)
Doctoral dissertation

2006

Pettersen, Kristin Ytterstad. (2006) Samlokalisering er et steg i gal retning. Adresseavisen
Feature article
Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Nijmeijer, Henk. (2006) Group Coordination and Cooperative Control. Springer Lecture notes in control and information sciences (May 2006)
Academic anthology/Conference proceedings
Transeth, Aksel Andreas; Leine, Remco I.; Glocker, Christoph; Pettersen, Kristin Ytterstad. (2006) Non-smooth 3D Modeling of a Snake Robot with External Obstacles. IEEE conference proceedings
Academic chapter/article/Conference paper
Transeth, Aksel Andreas; Leine, Remco I.; Glocker, Christoph; Pettersen, Kristin Ytterstad. (2006) Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints. IEEE conference proceedings
Academic chapter/article/Conference paper
Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad. (2006) Developments in Snake Robot Modeling and Locomotion.
Academic chapter/article/Conference paper
van de Wouw, Nathan; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2006) Output Tracking Control of PWA Systems. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2006) Cross-track formation control of underactuated autonomous underwater vehicles. Lecture notes in control and information sciences
Academic article
Kyrkjebø, Erik; Panteley, Elena; Chaillet, Antoine; Pettersen, Kristin Ytterstad. (2006) A virtual vehicle approach to underway replenishment. Lecture notes in control and information sciences
Academic article
Haugom, Rune; Solbjørg, Ole Kristen; Pettersen, Kristin Ytterstad; Eikaas, Tor Ivar. (2006) A Simulation game for nonlinear control theory education. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2006) Robust observer design for underwater vehicles. Proceedings of the IEEE Conference on Control Applications
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2006) A Virtual Vehicle Approach to Output Synchronization Control. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2006) Weather optimal dynamic positioning of underactuated AUVs using output feedback control. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2006) Control of slender body underactuated AUVs with current estimation. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos. (2006) Formation Control of Underactuated Marine Vehicles with Communication Constraints. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2006) Leader-follower Dynamic Synchronization of Surface Vessels. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2006) Observer design for underwater vehicles with position and angle measurement. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) LOS Path Following for Underactuated Underwater Vehicle. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) Formation control of 6-DOF Euler-Lagrange systems with restricted inter-vehicle communication. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) A UGAS Observer for n-DOF Euler-Lagrange Systems. American Control Conference (ACC)
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) Global Output Feedback PID Control for n-DOF Euler-Lagrange Systems. American Control Conference (ACC)
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2006) Cross-track formation control of underactuated surface vessels. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Fredriksen, Espen; Pettersen, Kristin Ytterstad. (2006) Global K-exponential way-point maneuvering of ships: Theory and experiments. Automatica
Academic article

2005

Rustad, Anne Marthine; Sørensen, Asgeir; Pettersen, Kristin Ytterstad; Godhavn, John-Morten. (2005) Motion damping control of a heat exchanger on an LNG floater.
Academic chapter/article/Conference paper
Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. (2005) Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. MIC Journal: Modeling, Identification and Control
Academic article
Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. (2005) Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. Robotica (Cambridge. Print)
Academic article
Refsnes, Jon E Gorset; Sørensen, Asgeir; Pettersen, Kristin Ytterstad. (2005) Design of output-feedback control system for high speed maneuvering of an underwater vehicle. OCEANS
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2005) Master-slave synchronization of robot manipulators: Experimental results. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2005) Output synchronization control of Euler-Lagrange systems with nonlinear damping terms. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. (2005) Control of ship replenishment by output feedback synchronization. OCEANS
Academic article
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad. (2005) Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2005) Leader/Follower synchronization of satellite attitude without angular velocity measurements. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2005) Cross-track control for underactuated autonomous vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2005) Adaptive way-point tracking control for underactuated autonomous vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article

2004

Pettersen, Kristin Ytterstad; Mazenc, F; Nijmeijer, H. (2004) Global uniform asymptotic stabilization of an underactuated surface vessel: Experimental results. IEEE Transactions on Control Systems Technology
Academic article
Fredriksen, Espen; Pettersen, Kristin Ytterstad. (2004) Global kappa-exponential way-point manoeuvering of ships. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Tveito, Aslak; Almås, Aslaug Grov; Goebel, Vera; Heggernes, Pinar; Ingebrigtsen, Kjell Arne; Johansen, Dag. (2004) Nyttig nysgjerrighet : Fagplan for informasjons- og kommunikasjonsteknologi (IKT). Norges forskningsråd Norges forskningsråd
Report

2002

Mazenc, F.; Pettersen, Kristin Ytterstad; Nijmeijer, H.. (2002) Global Uniform Asymptotic Stabilization of an underactuated surface vessel. IEEE Transactions on Automatic Control
Academic article

2000

Pettersen, Kristin Ytterstad; Fossen, Thor Inge. (2000) Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technology
Academic article
Fantoni, Isabelle; Lozano, Rogelio; Mazenc, Frédéric; Pettersen, Kristin Ytterstad. (2000) Stabilization of a Nonlinear Underactuated Hovercraft. International Journal of Robust and Nonlinear Control
Academic article
Pettersen, Kristin Ytterstad; Nijmeijer, Hendrik. (2000) Semi-Global Practical Stabilization and Disturbance Adaptation for two Underactuated Ships. Institutt for teknisk kybernetikk
Report

1999

Pettersen, Kristin Ytterstad; Nijmeijer, H.. (1999) Global practical stabilization and tracking for an underactuated ship : a combined averaging and backstepping approach. MIC Journal: Modeling, Identification and Control
Academic article

1997

Pettersen, Kristin Ytterstad; Egeland, Olav. (1997) Exponential stabilization of an underactuated surface vessel. MIC Journal: Modeling, Identification and Control
Academic article

1996

Pettersen, Kristin Ytterstad. (1996) Exponential stabilization of underactuated vehicles. Doktor ingeniøravhandling (1996:87)
Doctoral dissertation
Pettersen, Kristin Ytterstad; Egeland, Olav. (1996) Stabilization of underactuated vehicles. [Mangler utgivernavn]
Compendium

Journal publications

Orucevic, Amer; Foseid, Eirik Lothe; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot. Proceedings of the 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
Academic article
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Model Predictive Task-Priority Control using Control Lyapunov Functions. 2024 European Control Conference
Academic article
Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Marley, Mathias Huuse; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles. Proceedings of the 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024
Academic article
Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Automatic alignment of underwater snake robots operating in wakes of bluff bodies. Control Engineering Practice
Academic article
Hoff, Simon Andreas Hagen; Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad. (2024) Communication-aware formation control for networks of AUVs. European Journal of Control
Academic article
Matous, Josef; Paliotta, Claudio; Pettersen, Kristin Ytterstad; Varagnolo, Damiano. (2024) The Hand Position Concept for Control of Underactuated Underwater Vehicles. IEEE Transactions on Control Systems Technology
Academic article
Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio. (2024) A Distributed NSB Algorithm for Formation Path Following. IEEE Transactions on Control Systems Technology
Academic article
Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. IEEE Transactions on Control Systems Technology
Academic article
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2024) Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees. IEEE Control Systems Letters
Academic article
Dyrhaug, Jan Inge; Tveter, Erling; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Synergistic PID and Output Feedback Control on Matrix Lie Groups. IFAC-PapersOnLine
Academic article
Orucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. IFAC-PapersOnLine
Academic article
Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio. (2023) Singularity-free Formation Path Following of Underactuated AUVs. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2023) Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback. IEEE Control Systems Letters
Academic article
Nysæther, Torje; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Hierarchical Compliance-Control-Based Docking of a UVMS. OCEANS
Academic article
Iversflaten, Markus Høgevoll; Sæbø, Bjørn Kåre; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors. IFAC-PapersOnLine
Academic article
Orucevic, Amer; Wrzos-Kaminska, Marianna; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2023) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE Transactions on Control Systems Technology
Academic article
Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad; Paliotta, Claudio. (2022) Distributed MPC for Formation Path-Following of Multi-Vehicle Systems. IFAC-PapersOnLine
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
Academic article
Gravdahl, Irja; Stavdahl, Øyvind; Koushan, Atussa; Løwer, Jostein; Pettersen, Kristin Ytterstad. (2022) Modeling for Hybrid Obstacle-Aided Locomotion (HOAL) of Snake Robots. IFAC-PapersOnLine
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) The generalized super-twisting algorithm with adaptive gains. International Journal of Robust and Nonlinear Control
Academic article
Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2022) Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback. IEEE Transactions on Automatic Control
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Comparison of two second-order sliding mode control algorithms for an articulated intervention AUV: Theory and experimental results. Ocean Engineering
Academic article
Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Y.. (2021) Path Planning for UGVs Based on Traversability Hybrid A*. IEEE Robotics and Automation Letters
Academic article
Eek, Åsmund; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2021) Formation Path Following Control of Underactuated USVs. European Journal of Control
Academic article
Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad. (2021) Autonomous ROV inspections of aquaculture net pens using DVL. IEEE Journal of Oceanic Engineering
Academic article
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine
Academic article
Bonsignorio, Fabio; Zereik, Enrica; Bibuli, Marco; Pettersen, Kristin Ytterstad; Khatib, Oussama. (2021) Editorial: Advanced Control Methods in Marine Robotics Applications. Frontiers in Robotics and AI
Editorial
Seel, Katrine; Grøtli, Esten Ingar; Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2021) Neural Network-based Model Predictive Control with Input-to-State Stability. American Control Conference (ACC)
Academic article
Seel, Katrine; Haring, Mark A. M.; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2021) MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control. IFAC-PapersOnLine
Academic article
Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2021) Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs. IFAC-PapersOnLine
Academic article
Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Set-based collision avoidance applications to robotic systems. Mechatronics (Oxford)
Academic article
Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk. (2020) A 3D reactive collision avoidance algorithm for underactuated underwater vehicles. Journal of Field Robotics (JFR)
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments. IEEE Transactions on Control Systems Technology
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems. Mechatronics (Oxford)
Academic article
Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2019) Path planning and guidance for underactuated vehicles with limited field-of-view. Ocean Engineering
Academic article
Pettersen, Kristin Ytterstad. (2019) Corrigendum to “Lyapunov sufficient conditions for uniform semiglobal exponential stability” [Automatica 78 (2017) 97–102](S0005109816304964)(10.1016/j.automatica.2016.12.004). Automatica
Errata
Wrzos-Kaminska, Marianna; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Path following control for articulated intervention-AUVs using geometric control of reduced attitude. IFAC-PapersOnLine
Academic article
Nonhoff, Marko; köhler, philipp; Kohl, Anna M; Pettersen, Kristin Ytterstad; Allgower, Frank. (2019) Economic model predictive control for snake robot locomotion. IEEE Conference on Decision and Control. Proceedings
Academic article
Belleter, Dennis Johannes Wouter; Braga, Jose; Pettersen, Kristin Ytterstad. (2019) Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles. Frontiers in Robotics and AI
Academic article
Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Combined kinematic and dynamic control of an underwater swimming manipulator. IFAC-PapersOnLine
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm. American Control Conference (ACC)
Academic article
Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy. (2019) Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots. Frontiers in Robotics and AI
Academic article
Wiig, Martin Syre; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2019) Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm. IEEE Transactions on Control Systems Technology
Academic article
Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2019) AUV guidance and docking using a convolutional neural network. IFAC Journal of Systems and Control
Academic article
Kelasidi, Eleni; Kohl, Anna M; Pettersen, Kristin Ytterstad; Hoffmann, Bjørn Håvard; Gravdahl, Jan Tommy. (2018) Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin. Annual Reviews in Control
Academic article
Borlaug, Ida-Louise Garmann; Gravdahl, Jan Tommy; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Loria, Antonio. (2018) Trajectory tracking for underwater swimming manipulators using a super twisting algorithm. Asian journal of control
Academic article
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2018) Semiglobal exponential stability of a counter-current and co-current guidance scheme. IFAC-PapersOnLine
Academic article
Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, José; Costa, Maria; Borgesde de Sousa, João Tasso de Figueiredo. (2018) Trajectory Tracking and Path Following for Underactuated Marine Vehicles. IEEE Transactions on Control Systems Technology
Academic article
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) The underwater swimming manipulator — A bioinspired solution for subsea operations. IEEE Journal of Oceanic Engineering
Academic article
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments. IEEE Transactions on Control Systems Technology
Academic article
Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Locomotion efficiency optimization of biologically inspired snake robots. Applied Sciences
Academic article
Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Set-Based Control for Autonomous Spray Painting. IEEE Transactions on Automation Science and Engineering
Academic article
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF. IFAC-PapersOnLine
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2017) A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface. IEEE Journal of Oceanic Engineering
Academic article
Maghenem, Mohamed; Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2017) Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach. IFAC-PapersOnLine
Academic article
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2017) Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy. IEEE Control Systems
Academic article
Kohl, Anna M; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Model-based LOS path-following control of planar underwater snake robots. Lecture notes in control and information sciences
Academic article
Fossen, Thor I.; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2017) Preface. Lecture notes in control and information sciences
Editorial
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2017) A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics. IEEE Conference on Decision and Control. Proceedings
Academic article
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Savkin, Andrey. (2017) A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. IEEE Control Systems
Academic article
Pettersen, Kristin Ytterstad. (2017) Snake Robots. Annual Reviews in Control
Academic literature review
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. IEEE Transactions on Robotics
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy. (2017) An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin. IFAC-PapersOnLine
Academic article
Pettersen, Kristin Ytterstad. (2017) Lyapunov sufficient conditions for uniform semiglobal exponential stability. Automatica
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Styve, Arne; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2016) Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms. IEEE Journal of Oceanic Engineering
Academic article
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) A control framework for biologically inspired underwater swimming manipulators equipped with thrusters. IFAC-PapersOnLine
Academic article
Sans Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2016) Vision Restricted Path Planning and Control for Underactuated Vehicles. IFAC-PapersOnLine
Academic article
Sans-Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland; Henriksen, Vegard Flage. (2016) A hybrid approach to underwater docking of AUVs with cross-current. OCEANS
Academic article
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Modeling of underwater swimming manipulators. IFAC-PapersOnLine
Academic article
Syre Wiig, Martin; Caharija, Walter; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad. (2016) Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy. IFAC-PapersOnLine
Academic article
Moe, Signe; Pettersen, Kristin Ytterstad; Fossen, Thor I.; Gravdahl, Jan Tommy. (2016) Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents. IEEE Mediterranean Conference on Control & Automation
Academic article
Moe, Signe; Pettersen, Kristin Ytterstad. (2016) Set-based Line-of-Sight (LOS) path following with collision avoidance for underactuated unmanned surface vessel. IEEE Mediterranean Conference on Control & Automation
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Bibuli, Marco; Calado, Pável; Zereik, Enrica; Braga, Jose. (2016) Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments. IEEE Transactions on Control Systems Technology
Academic article
Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Transactions on Control Systems Technology
Academic article
Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Multi-objective optimization for efficient motion of underwater snake robots. Artificial Life and Robotics
Academic article
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. IEEE robotics & automation magazine
Academic article
Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2016) Geometric path following with ocean current estimation for ASVs and AUVs. American Control Conference (ACC)
Academic article
Kohl, Anna Magdalena; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Planar maneuvering control of underwater snake robots using virtual holonomic constraints. Bioinspiration & Biomimetics
Academic article
Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Path Following for Underactuated Marine Vessels. IFAC-PapersOnLine
Academic article
Pettersen, Kristin Ytterstad; Liljebäck, Pål. (2016) Slangeroboter forbedrer subsea inspeksjon og vedlikehold. DYP - Magasinet fra Forening for Fjernstyrt Undervannsteknologi
Popular scientific article
Kohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2016) Planar path following of underwater snake robots in the presence of ocean currents. IEEE Robotics and Automation Letters
Academic article
Moe, Signe; Antonelli, Gianluca; Teel, Andrew R.; Pettersen, Kristin Ytterstad; Schrimpf, Johannes. (2016) Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results. Frontiers in Robotics and AI
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Hofmann, Andreas. (2016) Formation Control of Underactuated Bio-inspired Snake Robots. Artificial Life and Robotics
Academic article
Vagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2016) Nonlinear Tracking Control Scheme for a Nanopositioner. Mediterranean Conference on Control and Automation (MED)
Academic article
Fossen, Thor I.; Pettersen, Kristin Ytterstad; Galeazzi, Roberto. (2015) Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces. IEEE Transactions on Control Systems Technology
Academic article
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Path Following for Formations of Underactuated Marine Vessels under Influence of Constant Ocean Currents. IEEE Conference on Decision and Control. Proceedings
Academic article
Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2015) Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Conference on Decision and Control. Proceedings
Academic article
Fernandes, Daniel de Almeida; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Donha, Decio C. (2015) Output feedback motion control system for observation class ROVs based on a high-gain state observer: Theoretical and experimental results. Control Engineering Practice
Academic article
Antonelli, Gianluca; Moe, Signe; Pettersen, Kristin Ytterstad. (2015) Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics. Mediterranean Conference on Control and Automation (MED)
Academic article
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances. American Control Conference (ACC)
Academic article
Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Eielsen, Arnfinn Aas. (2015) Topography and force imaging in atomic force microscopy by state and parameter estimation. American Control Conference (ACC)
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad. (2015) Controlling Kuka Industrial Robots : Flexible Communication Interface JOpenShowVar. IEEE robotics & automation magazine
Academic article
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns. Robotics and Biomimetics
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater robots. IFAC-PapersOnLine
Academic article
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Rekdalsbakken, Webjørn; Pettersen, Kristin Ytterstad. (2015) A wave simulator and active heave compensation framework for demanding offshore crane operations. Canadian Conference on Electrical and Computer Engineering (CCECE)
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Calado, Pável; Braga, Jose. (2015) A comparison between the ILOS guidance and the vector field guidance. IFAC-PapersOnLine
Academic article
Paliotta, Claudio; Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Adaptive source seeking with leader-follower formation control. IFAC-PapersOnLine
Academic article
Sans Muntadas, Albert; Brekke, Edmund Førland; Hegrenæs, Øyvind; Pettersen, Kristin Ytterstad. (2015) Navigation and probability assessment for successful AUV docking using USBL. IFAC-PapersOnLine
Academic article
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2015) Uniform semiglobal exponential stability of integral line-of-sight guidance laws. IFAC-PapersOnLine
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater snake robot locomotion. Mediterranean Conference on Control and Automation (MED)
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Modeling of underwater snake robots moving in a vertical plane in 3D. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid. (2014) Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents. American Control Conference (ACC)
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A waypoint guidance strategy for underwater snake robots. Mediterranean Conference on Control and Automation (MED)
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Bjerkeng, Magnus Christian; Falco, Pietro; Natale, Ciro; Pettersen, Kristin Ytterstad. (2014) Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-based Control of Robotic Systems. IEEE Transactions on Robotics
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan; Candeloro, Mauro; Gravdahl, Jan Tommy. (2014) Relative velocity control and integral line of sight for path following of autonomous surface vessels: Merging intuition with theory. Journal of Engineering for the Maritime Environment (Part M)
Academic article
Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2014) On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica
Academic article
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni. (2014) Path following control of planar snake robots using virtual holonomic constraints: theory and experiments. Robotics and Biomimetics
Academic article
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2014) Improved Counter-Current and Co-Current Guidance of Underactuated Marine Vehicles with Semiglobal Stability Properties. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Bibuli, Marco; Caharija, Walter; Pettersen, Kristin Ytterstad; Bruzzone, Gabriele; Caccia, Massimo; Zereik, Enrica. (2014) ILOS Guidance - Experiments and Tuning. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad; Mohammadi, Alireza; Maggiore, Manfredi. (2014) Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model. Proceedings of the IEEE Conference on Control Applications
Academic article
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Integral Line-of-Sight for path following of underwater snake robots. Proceedings of the IEEE Conference on Control Applications
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - From Biology to Nonlinear Control. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Bjerkeng, Magnus Christian; falco, pietro; natale, ciro; Pettersen, Kristin Ytterstad. (2013) Discrete-time stability analysis of a control architecture for heterogeneous robotic systems. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Damping and Tracking Control Schemes for Nanopositioning. IEEE/ASME transactions on mechatronics
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Marine Surface Vessels with Saturated Transverse Actuators. American Control Conference (ACC)
Academic article
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Lateral undulation of snake robots: A simplified model and fundamental properties. Robotica (Cambridge. Print)
Academic article
Vagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Design of a nonlinear damping control scheme for nanopositioning. IEEE ASME International Conference on Advanced Intelligent Mechatronics
Academic article
Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2012) On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems. Journal of Dynamic Systems Measurement, and Control
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) Snake Robot Locomotion in Environments With Obstacles. IEEE/ASME transactions on mechatronics
Academic article
Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2012) Adaptive feed-forward hysteresis compensation for piezoelectric actuators. Review of Scientific Instruments
Academic article
Bjerkeng, Magnus; Pettersen, Kristin Ytterstad. (2012) A new Coriolis matrix factorization. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2012) A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan. (2012) Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Caharija, Walter; Candeloro, Mauro; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2012) Relative Velocity Control and Integral LOS for Path Following of Underactuated Surface Vessels in the Presence of Ocean Currents. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents. American Control Conference (ACC)
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A review on modelling, implementation, and control of snake robots. Robotics and Autonomous Systems
Academic article
Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2012) Path following control of planar snake robots using a cascaded approach. IEEE Transactions on Control Systems Technology
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Stability analysis of snake robot locomotion based on averaging theory. IEEE Conference on Decision and Control. Proceedings
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Controllability and Stability Analysis of Planar Snake Robot Locomotion. IEEE Transactions on Automatic Control
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. IEEE transactions on robotics and automation
Academic article
Wondergem, Michiel; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2011) Output Feedback Tracking of Ships. IEEE Transactions on Control Systems Technology
Academic article
Eielsen, Arnfinn Aas; Burger, Mernout; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2011) PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Path following control of snake robots in unstructured environments. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad. (2011) Waypoint guidance control of snake robots. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Two new design concepts for snake robot locomotion in unstructured environments. Paladyn - Journal of Behavioral Robotics
Academic article
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Singularity-free dynamic equations of spacecraft-manipulator systems. Acta Astronautica
Academic article
Børhaug, Even; Pavlov, Alexey; Panteley, Elena; Pettersen, Kristin Ytterstad. (2011) Straight Line Path Following for Formations of Underactuated Marine Surface Vessels. IEEE Transactions on Control Systems Technology
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion. IEEE transactions on robotics and automation
Academic article
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Curved Trajectory Tracking for Surface Vessel Formations. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2010) On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. Proceedings of the International Astronautical Congress
Academic article
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Trajectory Tracking for Marine Vehicles under Constant Disturbances: Controller Design and Tuning. OCEANS
Academic article
Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Smooth Transitions Between Trajectory Tracking and Path Following for Single Vehicles and Formations. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2010) Curved Trajectory Tracking for Surface Vessels under Constant External Disturbances. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A hybrid model of obstacle-aided snake robot locomotion. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2010) Path following control of planar snake robots using a cascaded approach. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2010) A snake robot with a contact force measurement system for obstacle-aided locomotion. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of AUV-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Vogl, Lukas. (2010) Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
Academic article
From, Pål Johan; Duindam, Vincent; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sastry, Shankar. (2010) Singularity-free dynamic equations of vehicle-manipulator systems. Simulation modelling practice and theory
Academic article
Transeth, Aksel A.; Pettersen, Kristin Ytterstad; Liljeback, Pål. (2009) A survey on snake robot modeling and locomotion. Robotica (Cambridge. Print)
Academic literature review
Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2009) Maritime Surveillance and Monitoring using Autonomous Vehicles with Conditional Integrator Based Control. OCEANS
Academic article
Liljeback, Pål; Fjerdingen, Sigrud Aksnes; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2009) A snake robot joint mechanism with a contact force measurement system. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2009) Modelling and control of obstacle-aided snake robot locomotion based on jam resolution. IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Burger, Mernout; Pavlov, Alexey; Børhaug, Even; Pettersen, Kristin Ytterstad. (2009) Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Constant Ocean Currents. American Control Conference (ACC)
Academic article
Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2009) Conditional Integrators for Path Following and Formation Control of Marine Vessels under Constant Disturbances. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2008) Operational space synchronization of two robot manipulators through a virtual velocity estimate. MIC Journal: Modeling, Identification and Control
Academic article
Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Børhaug, Even. (2008) AUVSAT - an experimental platform for spacecraft formation flying. Proceedings of the International Astronautical Congress
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2008) Integral LOS Control for Path Following of Underactuated Marine Surface Vessels in the Presence of Constant Ocean Currents. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2008) A new perspective on stable inversion of non-minimum phase nonlinear systems. MIC Journal: Modeling, Identification and Control
Academic article
Holden, Christian; Pettersen, Kristin Ytterstad. (2008) Global Uniform Asymptotic Lyapunov Stabilization of a Vectorial Chained-Form System with a Smooth Time-Varying Control Law. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2008) Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments. IEEE Transactions on Control Systems Technology
Academic article
Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad. (2008) Modular Pneumatic Snake Robot: 3D Modelling, Implementation and Control. MIC Journal: Modeling, Identification and Control
Academic article
Transeth, Aksel Andreas; Leine, RI; Glocker, C; Pettersen, Kristin Ytterstad. (2008) 3-D snake robot motion: Nonsmooth modeling, simulations, and experiments. IEEE transactions on robotics and automation
Academic article
Transeth, Aksel Andreas; Leine, RI; Glocker, C; Pettersen, Kristin Ytterstad; Liljeback, Pål. (2008) Snake robot obstacle-aided locomotion: Modeling, simulations, and experiments. IEEE transactions on robotics and automation
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2007) Operational space synchronization of two robot manipulators through a virtual velocity estimate. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pivano, Luca; Johansen, Tor Arne; Pettersen, Kristin Ytterstad. (2007) A Model-based Ocean Current Obeserver for 6DOF Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) Straight line path following for formations of underactuated underwater vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) A new perspective on stable inversion of non-minimum phase nonlinear systems. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) Stable inversion of non-minimum phase nonlinear systems: a convergent systems approach. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pavlov, Alexey; Børhaug, Even; Panteley, Elena; Pettersen, Kristin Ytterstad. (2007) Straigh line path following for formation of underactuated surface vessels. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Holden, Christian; Pettersen, Kristin Ytterstad. (2007) Robust Globally Exponentially Stabilizing Control Law for Fully Actuated 6-DOF AUVs. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad; Wondergem, Michiel; Nijmeijer, Henk. (2007) Output Synchronization Control of Ship Replenishment Operations: Theory and Experiments. Control Engineering Practice
Academic article
Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2007) Output feedback control of underwater vehicles with current estimation. International Journal of Control
Academic article
Alminde, Lars; Bendtsen, Jan Dimon; Stoustrup, Jakob; Pettersen, Kristin Ytterstad. (2007) Objective directed control using local minimisation for an autonomous underwater vehicle. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2007) Output feedback control of slender body underwater vehicles with current estiamtion. International Journal of Control
Academic article
Pettersen, Kristin Ytterstad. (2006) Samlokalisering er et steg i gal retning. Adresseavisen
Feature article
van de Wouw, Nathan; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2006) Output Tracking Control of PWA Systems. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2006) Cross-track formation control of underactuated autonomous underwater vehicles. Lecture notes in control and information sciences
Academic article
Kyrkjebø, Erik; Panteley, Elena; Chaillet, Antoine; Pettersen, Kristin Ytterstad. (2006) A virtual vehicle approach to underway replenishment. Lecture notes in control and information sciences
Academic article
Haugom, Rune; Solbjørg, Ole Kristen; Pettersen, Kristin Ytterstad; Eikaas, Tor Ivar. (2006) A Simulation game for nonlinear control theory education. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2006) Robust observer design for underwater vehicles. Proceedings of the IEEE Conference on Control Applications
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2006) A Virtual Vehicle Approach to Output Synchronization Control. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2006) Weather optimal dynamic positioning of underactuated AUVs using output feedback control. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2006) Control of slender body underactuated AUVs with current estimation. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos. (2006) Formation Control of Underactuated Marine Vehicles with Communication Constraints. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2006) Leader-follower Dynamic Synchronization of Surface Vessels. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2006) Observer design for underwater vehicles with position and angle measurement. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) LOS Path Following for Underactuated Underwater Vehicle. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) Formation control of 6-DOF Euler-Lagrange systems with restricted inter-vehicle communication. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) A UGAS Observer for n-DOF Euler-Lagrange Systems. American Control Conference (ACC)
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) Global Output Feedback PID Control for n-DOF Euler-Lagrange Systems. American Control Conference (ACC)
Academic article
Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2006) Cross-track formation control of underactuated surface vessels. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Fredriksen, Espen; Pettersen, Kristin Ytterstad. (2006) Global K-exponential way-point maneuvering of ships: Theory and experiments. Automatica
Academic article
Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. (2005) Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. MIC Journal: Modeling, Identification and Control
Academic article
Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. (2005) Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. Robotica (Cambridge. Print)
Academic article
Refsnes, Jon E Gorset; Sørensen, Asgeir; Pettersen, Kristin Ytterstad. (2005) Design of output-feedback control system for high speed maneuvering of an underwater vehicle. OCEANS
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2005) Master-slave synchronization of robot manipulators: Experimental results. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2005) Output synchronization control of Euler-Lagrange systems with nonlinear damping terms. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. (2005) Control of ship replenishment by output feedback synchronization. OCEANS
Academic article
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad. (2005) Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control. Elsevier IFAC Publications / IFAC Proceedings series
Academic article
Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2005) Leader/Follower synchronization of satellite attitude without angular velocity measurements. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2005) Cross-track control for underactuated autonomous vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Børhaug, Even; Pettersen, Kristin Ytterstad. (2005) Adaptive way-point tracking control for underactuated autonomous vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Pettersen, Kristin Ytterstad; Mazenc, F; Nijmeijer, H. (2004) Global uniform asymptotic stabilization of an underactuated surface vessel: Experimental results. IEEE Transactions on Control Systems Technology
Academic article
Fredriksen, Espen; Pettersen, Kristin Ytterstad. (2004) Global kappa-exponential way-point manoeuvering of ships. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
Academic article
Mazenc, F.; Pettersen, Kristin Ytterstad; Nijmeijer, H.. (2002) Global Uniform Asymptotic Stabilization of an underactuated surface vessel. IEEE Transactions on Automatic Control
Academic article
Pettersen, Kristin Ytterstad; Fossen, Thor Inge. (2000) Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technology
Academic article
Fantoni, Isabelle; Lozano, Rogelio; Mazenc, Frédéric; Pettersen, Kristin Ytterstad. (2000) Stabilization of a Nonlinear Underactuated Hovercraft. International Journal of Robust and Nonlinear Control
Academic article
Pettersen, Kristin Ytterstad; Nijmeijer, H.. (1999) Global practical stabilization and tracking for an underactuated ship : a combined averaging and backstepping approach. MIC Journal: Modeling, Identification and Control
Academic article
Pettersen, Kristin Ytterstad; Egeland, Olav. (1997) Exponential stabilization of an underactuated surface vessel. MIC Journal: Modeling, Identification and Control
Academic article

Books

Pettersen, Kristin Ytterstad. (2018) 2nd IEEE Conference on Control Technology and Applications. IEEE conference proceedings IEEE conference proceedings
Academic anthology/Conference proceedings
Fossen, Thor I.; Nijmeijer, Henk; Pettersen, Kristin Ytterstad. (2017) Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer Lecture notes in control and information sciences (-)
Academic anthology/Conference proceedings
From, Pål Johan; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2014) Vehicle-Manipulator Systems. Springer Advances in Industrial Control (1)
Academic monograph
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - Modelling, Mechatronics, and Control. Springer Advances in Industrial Control (.)
Academic monograph
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Proceedings IEEE International Conference on Intelligent Robots and Systems. IEEE conference proceedings IEEE conference proceedings
Academic anthology/Conference proceedings
Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Nijmeijer, Henk. (2006) Group Coordination and Cooperative Control. Springer Lecture notes in control and information sciences (May 2006)
Academic anthology/Conference proceedings

Part of book/report

Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Model Predictive Task-Priority Control using Control Lyapunov Functions. Institute of Electrical and Electronics Engineers (IEEE)
Academic chapter/article/Conference paper
Lie, Erling Syversveen; Matous, Josef; Pettersen, Kristin Ytterstad. (2023) Formation Control of Underactuated AUVs Using the Hand Position Concept. IEEE conference proceedings
Academic chapter/article/Conference paper
Gushkov, Ivan Ivanov; Orucevic, Amer; Pettersen, Kristin Ytterstad; Yao, Weijia; Gravdahl, Jan Tommy. (2023) Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2023) Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments. IEEE conference proceedings
Academic chapter/article/Conference paper
D'Antuono, Gianluca; Pettersen, Kristin Ytterstad; Buonocore, Luca Rosario; Gravdahl, Jan Tommy; Di Castro, Mario. (2023) Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation. IFAC Papers Online
Academic chapter/article/Conference paper
Lysø, Mads Erlend Bøe; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2023) Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion. Elsevier
Academic chapter/article/Conference paper
Das, Hemjyoti; Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Ott, Christian. (2023) Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. IEEE conference proceedings
Academic chapter/article/Conference paper
Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems. IEEE conference proceedings
Academic chapter/article/Conference paper
Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine. (2022) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE conference proceedings
Academic chapter/article/Conference paper
Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2022) A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships. IEEE conference proceedings
Academic chapter/article/Conference paper
Scarpa, Maria; Nortmann, Benita; Pettersen, Kristin Ytterstad; Mylvaganam, Thulasi. (2022) Data-driven control of planar snake robot locomotion. IEEE conference proceedings
Academic chapter/article/Conference paper
Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
Academic chapter/article/Conference paper
Matous, Josef; Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad. (2021) Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems. IEEE conference proceedings
Academic chapter/article/Conference paper
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2021) Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties. IEEE conference proceedings
Academic chapter/article/Conference paper
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. IEEE conference proceedings
Academic chapter/article/Conference paper
Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2020) Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV. IEEE conference proceedings
Academic chapter/article/Conference paper
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. IEEE conference proceedings
Academic chapter/article/Conference paper
Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) The generalized super-twisting algorithm with adaptive gains. IEEE conference proceedings
Academic chapter/article/Conference paper
Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2019) Guidance of Autonomous Underwater Vehicles. Springer
Chapter
Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Vehicles. Springer
Chapter
Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Snake Robots. Springer
Chapter
Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy. (2019) Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2018) Modeling of Articulated Underwater Robots for Simulation and Control. IEEE Press
Academic chapter/article/Conference paper
Amundsen, Morten Fyhn; Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2018) Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix. IEEE conference proceedings
Academic chapter/article/Conference paper
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. IEEE conference proceedings
Academic chapter/article/Conference paper
Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2018) An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Moe, Signe; Pettersen, Kristin Ytterstad. (2017) Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan. (2017) Modeling and Propulsion Methods of Underwater Snake Robots. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Velocity and orientation control of underwater snake robots using absolute velocity feedback. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Kohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Set-based path following and obstacle avoidance for underwater snake robots. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2017) Spiral path planning for docking of underactuated vehicles with limited FOV. IEEE conference proceedings
Academic chapter/article/Conference paper
Sans-Muntadas, Albert; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad. (2017) Vehicle Guidance with Control Action Computed by a Rao-Blackwellized Particle Filter. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Sans-Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland; Kelasidi, Eleni. (2017) Learning an AUV docking maneuver with a convolutional neural network. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. IEEE (Institute of Electrical and Electronics Engineers)
Academic chapter/article/Conference paper
Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2017) Leader-Follower Synchronisation for a Class of Underactuated Systems. Springer
Academic chapter/article/Conference paper
Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. (2016) A modified dynamic window algorithm for horizontal collision avoidance for AUVs. IEEE conference proceedings
Academic chapter/article/Conference paper
Kelasidi, Eleni; Kohl, Anna Magdalena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Waypoint guidance control for underwater snake robots exposed to ocean currents. IEEE conference proceedings
Academic chapter/article/Conference paper
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2016) Locomotion Efficiency of Underwater Snake Robots with Thrusters. IEEE conference proceedings
Academic chapter/article/Conference paper
Xidias, Elias K.; Paliotta, Claudio; Aspragathos, Nikos A.; Pettersen, Kristin Ytterstad. (2016) Path Planning for Formation Control of Autonomous Vehicles . Springer
Academic chapter/article/Conference paper
Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2016) Leader-follower synchronization with disturbance rejection. IEEE conference proceedings
Academic chapter/article/Conference paper
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) The Underwater Swimming Manipulator - A Bio-Inspired AUV. IEEE conference proceedings
Academic chapter/article/Conference paper
Sanfilippo, Filippo; Zhang, Houxiang; Pettersen, Kristin Ytterstad. (2015) The new architecture of ModGrasp for mind-controlled low-cost sensorised modular hands. IEEE conference proceedings
Academic chapter/article/Conference paper
Sanfilippo, Filippo;

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Kristin Y. Pettersen

Kristin Y. Pettersen

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