Morten Breivik
Background and activities
I am the Head of Department of Engineering Cybernetics at NTNU. I'm also an affiliated scientist at NTNU's SFF AMOS. In addition, I'm a member of the Norwegian Board of Technology, and have been a member of the expert group on enabling technologies for the Norwegian Digital21 strategy.
Background
- Head of department, Department of Engineering Cybernetics, NTNU (September 2013 - Present)
- Department manager, Kongsberg Maritime (January 2012 - August 2013)
- Principal engineer, Kongsberg Maritime (August 2011 - December 2011)
- Researcher, Centre for Ships and Ocean Structures, NTNU (July 2008 - June 2011)
- Assistant professor, Department of Marine Technology, NTNU (July 2008 - June 2010)
- Scientific advisor, Maritime Robotics (June 2007 - December 2008)
- Assistant professor, Department of Engineering Cybernetics, NTNU (July 2006 - June 2008)
- PhD scholar, Centre for Ships and Ocean Structures, NTNU (July 2003 - June 2006)
Education
- 2010: PhD, engineering cybernetics
- 2003: MSc, engineering cybernetics
Research and supervision
In particular focusing on research concerning new technology for autonomous ships. Currently leading the project Autoferry which is part of NTNU's Digital transformation initiative.
Supervisor for PhD candidates:
- Mikkel Eske Nørgaard Sørensen: Nonlinear and adaptive control of unmanned vehicles for maritime applications
- Emil Hjelseth Thyri: Automation and autonomy for all-electric autonomous passenger ferries (part of the project Autoferry)
- Inger Berge Hagen: Collision avoidance for autonomous ferry (co-supervisor)
- Mathias Marley: Resilient hybrid motion control of autonomous vessels (co-supervisor)
Graduated PhD candidates:
- 2021: Glenn Ivan Bitar: Optimization-based trajectory planning and automatic docking for autonomous ferries
- 2019: Bjørn-Olav Holtung Eriksen: Collision avoidance and motion control for autonomous surface vehicles (part of the project Autosea)
- 2019: Erik Falmår Wilthil: Maritime target tracking with varying sensor performance (co-supervisor)
Also supervising several MSc students, in particular concerning autonomous ships.
Book projects
We have much to learn from history and I have therefore initiated and led the following two book projects:
- 2014-2019: Alltid rabiat: Jens Glad Balchen og den kybernetiske tenkemåten (Norwegian only)
- 2011-2015: Juvelen i kronen: Kongsberg dynamiske posisjoneringssystemer 1975-2015 (also available in English: The jewel in the crown: Kongsberg dynamic positioning systems 1975-2015)
Media
- SFI Autoship - Eight years with autonomous ships (Ocean Autonomy Cluster, 2021)
- Innovation breakfast webinar: Nyhavna - Global leader in autonomous ocean tech (Technoport, 2020)
- Driverless ferries to replace footbridges (Gemini, 2018)
- University students and researchers test own control algorithms on industrial DP system platform (Kongsberg Maritime, 2016)
- World's first professorship in Big Data Cybernetics (Kongsberg Group, 2015)
- Norwegian king receives new book on dynamic positioning (Kongsberg Maritime, 2015)
- Autonomous robots at sea (Gemini, 2010)
- Formation control at sea using unmanned surface vehicles (YouTube, 2010)
Scientific, academic and artistic work
Displaying a selection of activities. See all publications in the database
2021
- (2021) Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments. IFAC-PapersOnLine.
- (2021) A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters. IFAC-PapersOnLine.
2020
- (2020) Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents. 2020 IEEE Conference on Control Technology and Applications (CCTA).
- (2020) Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments. IEEE Access. vol. 8.
- (2020) Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17. Frontiers in Robotics and AI. vol. 7 (11).
- (2020) A hybrid kinematic controller for resilient obstacle avoidance of autonomous ships. IOP Conference Series: Materials Science and Engineering. vol. 929.
- (2020) Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control. IEEE Access. vol. 8.
- (2020) Reactive collision avoidance for ASVs based on control barrier functions. 2020 IEEE Conference on Control Technology and Applications (CCTA).
2019
- (2019) Energy-Optimized Hybrid Collision Avoidance for ASVs. 2019 18th European Control Conference (ECC).
- (2019) Warm-started optimized trajectory planning for ASVs. IFAC-PapersOnLine. vol. 52 (21).
- (2019) The Autosea project: Developing closed-loop target tracking and collision avoidance systems. Journal of Physics: Conference Series (JPCS). vol. 1357 (1).
- (2019) Short-term ASV Collision Avoidance with Static and Moving Obstacles. Modeling, Identification and Control. vol. 40 (3).
- (2019) The branching-course model predictive control algorithm for maritime collision avoidance. Journal of Field Robotics (JFR). vol. 36 (7).
- (2019) Zero-Emission Autonomous Ferries for Urban Water Transport: Cheaper, Cleaner Alternative to Bridges and Manned Vessels. IEEE Electrification Magazine. vol. 7 (4).
2018
- (2018) Development of a Dynamic Positioning System for the ReVolt Model Ship. IFAC-PapersOnLine. vol. 51 (29).
- (2018) Energy-Optimized Path Planning for Autonomous Ferries. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018.
- (2018) A Model-Based Speed and Course Controller for High-Speed ASVs. IFAC-PapersOnLine. vol. 51 (29).
- (2018) Radar-based Maritime Collision Avoidance using Dynamic Window. IEEE Aerospace Conference. Proceedings. vol. 2018-March.
- (2018) Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model. 2018 IEEE Conference on Control Technology and Applications (CCTA).
- (2018) Hybrid Collision Avoidance for Autonomous Surface Vehicles. IFAC-PapersOnLine. vol. 51 (29).
- (2018) A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018.
2017
- (2017) MPC-based Mid-level Collision Avoidance for ASVs using Nonlinear Programming. 2017 IEEE Conference on Control Technology and Applications (CCTA).
- (2017) Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments. Lecture notes in control and information sciences. vol. 474.
- (2017) AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus. ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 1: Offshore Technology.
- (2017) A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints. 2017 IEEE Conference on Control Technology and Applications (CCTA).
- (2017) Performance comparison of controllers with fault-dependent control allocation for UAVs. Journal of Intelligent and Robotic Systems. vol. 87 (1).
2016
- (2016) A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs. Proceedings of 2016 IEEE Conference on Control Applications (CCA).
- (2016) Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control. IFAC-PapersOnLine. vol. 49 (23).
- (2016) Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas. IFAC-PapersOnLine. vol. 49 (23).
- (2016) Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels. Proceedings of 2016 IEEE Conference on Control Applications (CCA).
- (2016) Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels. IFAC-PapersOnLine. vol. 49 (23).
2015
- (2015) From Eureka to K-Pos: Dynamic Positioning as a Highly Successful and Important Marine Control Technology. IFAC-PapersOnLine. vol. 48 (16).
- (2015) UAV Fault-Tolerant Control by Combined L1 Adaptive Backstepping and Fault-dependent Control Allocation. 2015 IEEE Conference on Control Applications, CCA 2015.
- (2015) Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels. IFAC-PapersOnLine. vol. 48 (16).
2014
- (2014) Kybernetikere: Teknologiens styrmenn. Næring i Midt-Norge. vol. 1 (2).
2013
- (2013) Continuous-Curvature Path Generation using Fermat's Spiral. Modeling, Identification and Control. vol. 34 (4).
2011
- (2011) A Virtual Target-Based Underway Docking Procedure for Unmanned Surface Vehicles. Elsevier IFAC Publications / IFAC Proceedings series. vol. 18 (1).
- (2011) Investigating Ship Manoeuvers around a Floating Structure under the Influence of a Uniform Current in Deep and Calm Water. 2nd International Conference on Ship Manoeuvring in Shallow and Confined Water: Ship to Ship Interaction, Conference Proceedings.
2010
- (2010) Topics in Guided Motion Control of Marine Vehicles. 2010. Doktoravhandlinger ved NTNU (2010:63).
- (2010) A Speed Control Algorithm for Planar Path Maneuvering. Elsevier IFAC Publications / IFAC Proceedings series.
- (2010) Weather Optimal Positioning Control for Marine Surface Vessels. Elsevier IFAC Publications / IFAC Proceedings series.
2009
- (2009) Autotuning Aspects for Dynamic Positioning Systems. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
- (2009) Guidance Laws for Autonomous Underwater Vehicles. Underwater Vehicles.
- (2009) Trends in Research and Publication: Science 2.0 and Open Access. Modeling, Identification and Control. vol. 30 (3).
- (2009) Jens Glad Balchen: A Norwegian Pioneer in Engineering Cybernetics. Modeling, Identification and Control. vol. 30 (3).
- (2009) Offshore Pipelay Operations From a Control Perspective. Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering - OMAE2009.
- (2009) MPC-Based Optimal Path Following for Underactuated Vessels. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
- (2009) Modeling and Control of Underway Replenishment Operations in Calm Water. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
2008
- (2008) Guidance Laws for Planar Motion Control. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
- (2008) Ship Formation Control: A Guided Leader-Follower Approach. Elsevier IFAC Publications / IFAC Proceedings series.
- (2008) Straight-Line Target Tracking for Unmanned Surface Vehicles. Modeling, Identification and Control. vol. 29 (4).
2007
- (2007) Applying Missile Guidance Concepts to Motion Control of Marine Craft. 7th IFAC Conference on Control Applications in Marine Systems ; 2007-09-18 - 2007-09-21.
2006
- (2006) Marine craft: 21st century motion control concepts. Sea Technology. vol. 47 (3).
- (2006) A Unified Control Concept for Autonomous Underwater Vehicles. American Control Conference (ACC).
- (2006) Motion Control Concepts for Trajectory Tracking of Fully Actuated Ships. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Guided Dynamic Positioning for Fully Actuated Marine Surface Vessels. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Guided Formation Control for Fully Actuated Marine Surface Craft. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
- (2006) Guided Formation Control for Wheeled Mobile Robots. Proceedings of the International Conference on Control, Automation, Robotics and Vision 2006.
- (2006) Kinematic aspects of guided formation control in 2D. Lecture notes in control and information sciences. vol. 336.
2005
- (2005) A Unified Concept for Controlling a Marine Surface Vessel Through the Entire Speed Envelope. Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation.
- (2005) Guidance-Based Path Following for Autonomous Underwater Vehicles. OCEANS.
- (2005) Guidance-Based Path Following for Wheeled Mobile Robots. Elsevier IFAC Publications / IFAC Proceedings series.
- (2005) Principles of Guidance-Based Path Following in 2D and 3D. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
2004
- (2004) Path Following for Marine Surface Vessels. OTO'04 . IEEE/OES, MTS, CJO; Kobe. 2004-11-09 - 2004-11-12.
- (2004) Path Following of Straight Lines and Circles for Marine Surface Vessels. 6th IFAC CAMS . IFAC; Ancona. 2004-07-07 - 2004-07-09.
2003
- (2003) Line-of-Sight Path Following of Underactuated Marine Craft. 6th IFAC MCMC . IFAC; Girona. 2003-09-17 - 2003-09-19.