2025

• Wang, Tongtong; Skulstad, Robert; Zhang, Houxiang. (2025) Physics-Informed Neural Networks for Robust System Identification of Ship Roll Dynamics With Noise Resilience. IEEE Transactions on Industrial Informatics
  Academic article
• Wang, Tongtong; Skulstad, Robert; Holmeset, Finn Tore; Halse, Karl Henning; Hildre, Hans Petter; Zhang, Houxiang. (2025) Full-scale experimental research on wave shielding effect of RV Gunnerus for offshore operations. Ocean Engineering
  Academic article

2024

• Zhu, Mingda; Han, Peihua; Tian, Weiwei; Skulstad, Robert; Zhang, Houxiang; Li, Guoyuan. (2024) A Deep Generative Model for Multi-Ship Trajectory Forecasting With Interaction Modeling. Journal of Offshore Mechanics and Arctic Engineering
  Academic article
• Zhu, Mingda; Han, Peihua; Wang, Chunlin; Skulstad, Robert; Zhang, Houxiang; Li, Guoyuan. (2024) An AIS Data-Driven Hybrid Approach to Ship Trajectory Prediction. IEEE Transactions on Systems, Man & Cybernetics. Systems
  Academic article
• Zhu, Mingda; Tian, Weiwei; Skulstad, Robert; Zhang, Houxiang; Li, Guoyuan. (2024) Prediction-enabled path planning for multi-ship encounters in Oslofjord. Ocean Engineering
  Academic article
• Li, Shiyang; Wang, Tongtong; Li, Guoyuan; Skulstad, Robert; Zhang, Houxiang. (2024) Short-term ship roll motion prediction using the encoder–decoder Bi-LSTM with teacher forcing. Ocean Engineering
  Academic article
• Han, Peihua; Skulstad, Robert; Zhang, Houxiang. (2024) Deep Autoregressive Roll Motion Prediction of Marine Vessels. IEEE transactions on industrial electronics (1982. Print)
  Academic article
• Wang, Tongtong; Skulstad, Robert; Kanazawa, Motoyasu; Li, Guoyuan; Zhang, Houxiang. (2024) Learning Nonlinear Dynamics of Ocean Surface Vessel with Multistep Constraints. IEEE Transactions on Industrial Informatics
  Academic article

2023

• Li, Shiyang; Wang, Tongtong; Li, Guoyuan; Skulstad, Robert; Zhang, Houxiang. (2023) Multi-step Ship Roll Motion Prediction Based on Bi-LSTM and Input Optimization. IEEE (Institute of Electrical and Electronics Engineers)
  Academic chapter/article/Conference paper
• Raghunathan, Rahul Nath; Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang. (2023) Design of Constraints for a Neural Network based Thrust Allocator for Dynamic Ship Positioning. IEEE (Institute of Electrical and Electronics Engineers)
  Academic chapter/article/Conference paper
• Cheng, Xu; Li, Guoyuan; Skulstad, Robert; Zhang, Houxiang. (2023) SAFENESS: A Semi-Supervised Transfer Learning Approach for Sea State Estimation Using Ship Motion Data. IEEE Transactions on Intelligent Transportation Systems (T-ITS)
  Academic article
• Kanazawa, Motoyasu; Wang, Tongtong; Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang. (2023) Physics-data cooperative ship motion prediction with onboard wave radar for safe operations . IEEE (Institute of Electrical and Electronics Engineers)
  Academic chapter/article/Conference paper
• Kanazawa, Motoyasu; Wang, Tongtong; Ichinose, Yasuo; Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang. (2023) Bridging similar ships’ dynamics for safeguarding the system identification of maneuvering models. Ocean Engineering
  Academic article
• Wang, Tongtong; Skulstad, Robert; Kanazawa, Motoyasu; Li, Guoyuan; Zhang, Houxiang. (2023) Knowledge transfer strategy for enhancement of ship maneuvering model. Ocean Engineering
  Academic article
• Zhu, Mingda; Tian, Weiwei; Skulstad, Robert; Zhang, Houxiang; Li, Guoyuan. (2023) Probability-Based Ship Encounter Classification Using AIS Data. IEEE Press
  Academic chapter/article/Conference paper
• Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Zhang, Houxiang. (2023) Constrained control allocation for dynamic ship positioning using deep neural network. Ocean Engineering
  Academic article

2022

• Kanazawa, Motoyasu; Skulstad, Robert; Wang, Tongtong; Li, Guoyuan; Hatledal, Lars Ivar; Zhang, Houxiang. (2022) A Physics-Data Co-Operative Ship Dynamic Model for a Docking Operation. IEEE Sensors Journal
  Academic article
• Zhang, Houxiang; Li, Guoyuan; Hatledal, Lars Ivar; Chu, Yingguang; Ellefsen, André Listou; Han, Peihua. (2022) A Digital Twin of the Research Vessel Gunnerus for Lifecycle Services: Outlining Key Technologies. IEEE robotics & automation magazine
  Academic article
• Wang, Tongtong; Skulstad, Robert; Kanazawa, Motoyasu; Hatledal, Lars Ivar; Li, Guoyuan; Zhang, Houxiang. (2022) Adaptive Data-driven Predictor of Ship Maneuvering Motion Under Varying Ocean Environments. Springer
  Academic chapter/article/Conference paper
• Kanazawa, Motoyasu; Wang, Tongtong; Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang. (2022) Knowledge and data in cooperative modeling: Case studies on ship trajectory prediction. Ocean Engineering
  Academic article
• Zhu, Mingda; Skulstad, Robert; Zhao, Luman; Zhang, Houxiang; Li, Guoyuan. (2022) MPC-based path planning for ship collision avoidance under COLREGS. IEEE conference proceedings
  Academic chapter/article/Conference paper
• Wang, Tongtong; Skulstad, Robert; Kanazawa, Motoyasu; Li, Guoyuan; Æsøy, Vilmar; Zhang, Houxiang. (2022) Physics-informed Data-driven Approach for Ship Docking Prediction. IEEE conference proceedings
  Academic chapter/article/Conference paper

2021

• Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Wang, Tongtong; Zhang, Houxiang. (2021) A Co-operative Hybrid Model For Ship Motion Prediction. MIC Journal: Modeling, Identification and Control
  Academic article
• Wang, Chunlin; Li, Guoyuan; Skulstad, Robert; Cheng, Xu; Osen, Ottar Laurits; Zhang, Houxiang. (2021) A sensitivity quantification approach to significance analysis of thrusters in dynamic positioning operations. Ocean Engineering
  Academic article
• Wang, Tongtong; Li, Guoyuan; Hatledal, Lars Ivar; Skulstad, Robert; Æsøy, Vilmar; Zhang, Houxiang. (2021) Incorporating Approximate Dynamics Into Data-Driven Calibrator: A Representative Model for Ship Maneuvering Prediction. IEEE Transactions on Industrial Informatics
  Academic article
• Raghunathan, Rahul Nath; Zhang, Houxiang; Li, Guoyuan; Skulstad, Robert. (2021) Development of a Deep Learning based Thrust Allocator for Dynamic Positioning of Fully Actuated Vessels. NTNU
  Masters thesis
• Skulstad, Robert. (2021) Data-Based Modelling of Ships for Motion Prediction and Control Allocation. NTNU
  Doctoral dissertation
• Kanazawa, Motoyasu; Skulstad, Robert; Li, Guoyuan; Hatledal, Lars Ivar; Zhang, Houxiang. (2021) A multiple-output hybrid ship trajectory predictor with consideration for future command assumption. IEEE Sensors Journal
  Academic article
• Cheng, Xu; Li, Guoyuan; Han, Peihua; Skulstad, Robert; Chen, Shengyong; Zhang, Houxiang. (2021) Data-Driven Modeling for Transferable Sea State Estimation between Marine Systems. IEEE Transactions on Intelligent Transportation Systems (T-ITS)
  Academic article
• Han, Peihua; Li, Guoyuan; Skulstad, Robert; Skjong, Stian; Zhang, Houxiang. (2021) A Deep Learning Approach to Detect and Isolate Thruster Failures for Dynamically Positioned Vessels Using Motion Data. IEEE Transactions on Instrumentation and Measurement
  Academic article

2020

• Cheng, Xu; Li, Guoyuan; Skulstad, Robert; Chen, Shengyong; Hildre, Hans Petter; Zhang, Houxiang. (2020) A Neural Network-Based Sensitivity Analysis Approach for Data-Driven Modeling of Ship Motion. IEEE Journal of Oceanic Engineering
  Academic article
• Hatledal, Lars Ivar; Skulstad, Robert; Li, Guoyuan; Styve, Arne; Zhang, Houxiang. (2020) Co-simulation as a Fundamental Technology for Twin Ships. MIC Journal: Modeling, Identification and Control
  Academic article
• Wang, Tongtong; Li, Guoyuan; Skulstad, Robert; Æsøy, Vilmar; Zhang, Houxiang. (2020) An effective model-based thruster failure detection method for dynamically positioned ships. IEEE conference proceedings
  Academic chapter/article/Conference paper
• Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Vik, Bjørnar; Zhang, Houxiang. (2020) A Hybrid Approach to Motion Prediction for Ship Docking— Integration of a Neural Network Model into the Ship Dynamic Model. IEEE Transactions on Instrumentation and Measurement
  Academic article
• Cheng, Xu; Li, Guoyuan; Skulstad, Robert; Zhang, Houxiang; Chen, Shengyong. (2020) SpectralSeaNet: Spectrogram and Convolutional Network-based Sea State Estimation. IEEE conference proceedings
  Academic chapter/article/Conference paper

2019

• Cheng, Xu; Li, Guoyuan; Skulstad, Robert; Major, Pierre Yann; Chen, Shengyong; Hildre, Hans Petter. (2019) Data-driven uncertainty and sensitivity analysis for ship motion modeling in offshore operations. Ocean Engineering
  Academic article
• Major, Pierre Yann; Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang. (2019) Virtual prototyping: a case study of positioning systems for drilling operations in the Barents Sea. Ships and Offshore Structures
  Academic article
• Cheng, Xu; Li, Guoyuan; Skulstad, Robert; Chen, Shengyong; Hildre, Hans Petter; Zhang, Houxiang. (2019) Modeling and Analysis of Motion Data from Dynamically Positioned Vessels for Sea State Estimation . IEEE (Institute of Electrical and Electronics Engineers)
  Academic chapter/article/Conference paper
• Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Vik, Bjørnar; Zhang, Houxiang. (2019) Dead reckoning of dynamically positioned ships: Using an efficient recurrent neural network. IEEE robotics & automation magazine
  Academic article
• Shuai, Yonghui; Li, Guoyuan; Cheng, Xu; Skulstad, Robert; Xu, jinshan; Liu, Honghai. (2019) An efficient neural-network based approach to automatic ship docking. Ocean Engineering
  Academic article

2018

• Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang; Fossen, Thor I.. (2018) A Neural Network Approach to Control Allocation of Ships for Dynamic Positioning. IFAC-PapersOnLine
  Academic article
• Cheng, Xu; Skulstad, Robert; Li, Guoyuan; Chen, Shengyong; Hildre, Hans Petter; Zhang, Houxiang. (2018) A data-driven sensitivity analysis approach for dynamically positioned vessels. Linköping University Electronic Press
  Academic chapter/article/Conference paper

2015

• Skulstad, Robert; Syversen, Christoffer Lie; Merz, Mariann; Sokolova, Nadezda; Fossen, Thor I.; Johansen, Tor Arne. (2015) Autonomous net recovery of fixed-wing UAV with single-frequency carrier-phase differential GNSS. IEEE Aerospace and Electronic Systems Magazine
  Academic article
• Skulstad, Robert; Syversen, Christoffer Lie; Merz, Mariann; Sokolova, Nadezda; Fossen, Thor I.; Johansen, Tor Arne. (2015) Net Recovery of UAV with Single-Frequency RTK GPS. IEEE Aerospace Conference. Proceedings
  Academic article