Background and activities

PhD project: Reactive collision avoidance and guidance for underactuated marine vehicles

Main Supervisor: Prof. Kristin Y. Pettersen

Co-supervisors: Dr. Thomas R Krogstad (FFI) and Prof. Asgeir Sørensen (NTNU)

Researh topics in PhD:

  • Integral line of sight guidance for underactuated marine vehicles 
    • Stablity analysis in 3 and 5 degrees of freedom
    • Analysis of stability properties when the vehicle is not neutrally buoyant
  • Reactive collision avoidance
    • Collision avoidance as a guidance law
    • Focus on marine vehicles
    • Mathematical analysis -  under wich circumstances can we guarantee safety and liveness?

Other research interests

  • Autonomous, unmanned vehicles
  • Autonomous decision making
  • Dynamic route planning algorithms
  • Software development for unmanned systems
  • Nonlinear control systems

Scientific, academic and artistic work

A selection of recent journal publications, artistic productions, books, including book and report excerpts. See all publications in the database

Journal publications

Part of book/report

  • Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. (2016) A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs. Proceedings of 2016 IEEE Conference on Control Applications (CCA).
  • Syre Wiig, Martin; Løvlid, Rikke Amilde; Mathiassen, Kim; Krogstad, Thomas Røbekk. (2016) Decision Autonomy for Unmanned Vehicles. STO-MP-IST-127: Intelligence and Autonomy In Robotics.
  • Lorentzen, Ole Jacob; Synnes, Stig Asle Vaksvik; Syre Wiig, Martin; Glette, Kyrre Harald. (2013) Environmentally Adaptive Sonar. Proceedings of 1st International Conference and Exhibition on Underwater Acoustics.

Report/dissertation

  • Sture, Øystein; Syre Wiig, Martin; Fossum, Trygve Olav. (2017) NTNU-FFI Cruise 2017 - Hugin Autonomy Integration (DUNE, T-REX). 2017. NTNU Cruise reports (1).
  • Eriksen, Bjørn-Olav Holtung; Pettersen, Kristin Ytterstad; Syre Wiig, Martin; Krogstad, Thomas Røbekk. (2015) Horizontal Collision Avoidance for Autonomous Underwater Vehicles. 2015.