Thor I. Fossen

Professor of Guidance, Navigation and Control

Department of Engineering Cybernetics

thor.fossen@ntnu.no +47 91897361

Elektro D/B2, D338, Gløshaugen, O. S. Bragstads plass 2D

Thor I. Fossen is professor of guidance, navigation and control at the NTNU Department of Engineering Cybernetics. His educational background covers marine technology, aeronautics and astronautics, computer science, automatic control and cybernetics.

Fossen's current research fields are:

Guidance, Navigation and Control (GNC): Autonomous and intelligent systems, field robots, vehicle dynamics including multi-body systems, marine craft hydrodynamics, vehicle simulators, unmanned vehicles (UAV, AUV, USV), autopilots, trajectory tracking, path-following control.
Inertial Navigation Systems (INS): GNSS- and compass-denied navigation, aiding techniques, attitude estimation, automated situational awareness, sensor fusion and state estimation, nonlinear observer theory, Kalman filtering.
Cyber Security: Real-time encryption of feedback control and sensory signals, cryptology, stream chipers, AES, synchronization, authentication methods.

Fossen has published approximately 500 conference and journal papers and authored 6 international textbooks; see the Amazon author page.

He is one of the founders of the company Marine Cybernetics AS (2002), which was aquired by DNV GL. Fossen is one of the founders of the company SCOUT Drone Inspection (2017) and he is involved in several high-tech companies in Trondheim.

Teaching:

TTK 4190 Guidance, Navigation and Control of Vehicles (Master course)
TK 8109 Advanced Guidance, Navigation and Control (PhD course)

Awards/Honors:

IEEE Fellow, 2016
Norwegian Academy of Technological Sciences, 1998
Arch T. Colwell Merit Award i 2008 at the SAE World Congress for Nonlinear Observer for Vehicle Velocity Estimation co-authored by L. Imsland, T. A. Johansen, J. C. Kalkkuhl and A. Suissa.
Automatica Best Paper Prize i 2002 for "Nonlinear Passive Weather Optimal Positioning Control (WOPC) System for Ships and Rigs: Experimental Results", Automatica, vol. 37, 2001, pages 701-715 co-authored by Dr. J. P. Strand.
IFAC MCMC'15 Best Regular Paper Award for a paper entitled "A Virtual Vertical Reference Concept for GNSS/INS Applications at the Sea Surface" together with T. H. Bryne and T. A. Johansen.
ExxonMobil award to PhD candidates in 2000, 2003 og 2005 for best PhD theses at NTNU

Appointments:

2013-present. Co-director/Key Scientist, NTNU Centre for Autonomous Marine Operations and Systems
2017-2019. Vice President, SCOUT Drone Inspection AS.
2018-2019. Associate Editor, "Journal of Ship Research", SNAME
2017-2019. Associate Editor, IFAC Journal "Control Engineering Practice" (CEP)
2018-2019. Associate Editor, International Conference on Unmanned Aerial Systems (ICUAS'18)
2018 Associate editor at large, IEEE Conference of Control Technology and Applications (CCTA'18)
2018 Industry Chair, IEEE Conference of Control Technology and Applications (CCTA'18)
2014-2017. Medlem av styringskomiteen til the International Conference on Unmanned Aerial Systems (ICUAS)
2017-present. Associate Editor, IFAC Journal "Control Engineering Practice" (CEP)
2018 Industry Chair, IEEE Conference of Control Technology and Applications (CCTA'18)
2014-2017. Member of the steering committee of the International Conference on Unmanned Aerial Systems (ICUAS).
2016 Vice-chair, IFAC CAMS’16, Norway
2013 Otto Mønsted Visiting Professor, Department of Electrical Engineering, Technical University of Denmark
2008-2012 Head of Automatic Control, NTNU Centre for Ships and Ocean Structures
2002-2012 Key Scientist, NTNU Centre for Ships and Ocean Structures
2002-2008 Vice President R&D and Co-Founder of Marine Cybernetics AS
2004-2007 Senior scientific advisor, SINTEF Electronics and Cybernetics, Trondheim
2002-2010 Deputy Head, NTNU Department of Engineering Cybernetics
2002-2003 Senior scientific advisor, Kongsberg Maritime AS
2002-2006 Associate Editor of Automatica
2002 Visiting Professor, Department of Applied Mechanichs and Engineering Sciences, UCSD, San Diego, USA
1999 Visiting Professor, Department of Control Engineering, Aalborg University, Denmark
1996-2000 Chair, IEEE Oceanic Engineering and Control Systems Joint Society Chapter of the Norway Section
1999-2002 Senior scientific advisor, MARINTEK, Trondheim
1998 Chair, International Program Committee of IFAC CAMS'98, Fukuoka, Japan
1995 Chair, National Organizing Committee (NOC) of IFAC CAMS'95, Norway
1995-2002 Senior scientific advisor, ABB, Oslo
1991-1998 Senior scientific advisor, SINTEF Automatic Control, Trondheim

Scientific, academic and artistic work

Displaying a selection of activities. See all publications in the database

2020

Coates, Erlend M.; Reinhardt, Dirk Peter; Fossen, Thor I.. (2020) Reduced-Attitude Control of Fixed-Wing Unmanned Aerial Vehicles Using Geometric Methods on the Two-Sphere. IFAC World Congress ; 2020-07-11 - 2020-07-17.
Halvorsen, Håkon Skogland; Øveraas, Henning; Landstad, Olav; Smines, Vidar; Fossen, Thor I.; Johansen, Tor Arne. (2020) Wave motion compensation in dynamic positioning of small autonomous vessels. Journal of Marine Science and Technology.
Klausen, Kristian; Meissen, Chris; Fossen, Thor I.; Arcak, Murat; Johansen, Tor Arne. (2020) Cooperative Control for Multirotors Transporting an Unknown Suspended Load under Environmental Disturbances. IEEE Transactions on Control Systems Technology. vol. 28 (2).
Leira, Frederik Stendahl; Helgesen, Håkon Hagen; Johansen, Tor Arne; Fossen, Thor I.. (2020) Object Detection, Recognition and Tracking from UAVs using a Thermal Camera. Journal of Field Robotics (JFR).
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2020) On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation and Nonlinear Estimation Techniques in Dynamic Positioning. IEEE Journal of Oceanic Engineering.
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. vol. 70.

2019

Borup, Kasper Trolle; Fossen, Thor I.; Johansen, Tor Arne. (2019) A Machine Learning Approach for Estimating Air Data Parameters of Small Fixed-Wing UAVs Using Distributed Pressure Sensors. IEEE Transactions on Aerospace and Electronic Systems.
Borup, Kasper Trolle; Stovner, Bård Nagy; Fossen, Thor I.; Johansen, Tor Arne. (2019) Kalman Filters for Air Data System Bias Correction for a Fixed-Wing UAV. IEEE Transactions on Control Systems Technology.
Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Vehicles. Encyclopedia of Robotics.
Johansen, Tor Arne; Fossen, Thor I.. (2019) Guidance, Navigation and Control of Fixed-Wing Unmanned Aerial Vehicles. Encyclopedia of Robotics.
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Bryne, Torleiv Håland; Schjølberg, Ingrid. (2019) Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements. IEEE Journal of Oceanic Engineering.
Mathisen, Pål; Fossen, Thor I.. (2019) Robust Navigation System for UAVs in GNSS-and Magnetometer-Denied Environments. International Conference on Unmanned Aircraft Systems (ICUAS).
Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2019) Guidance of Autonomous Underwater Vehicles. Encyclopedia of Robotics.
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. vol. 26 (3).
Xu, Haitong; Fossen, Thor I.; Guedes Soares, Carlos. (2019) Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following. European Journal of Control.

2018

Borup, Kasper Trolle; Fossen, Thor I.; Johansen, Tor Arne. (2018) Air Data Estimation for Small Unmanned Aircraft. 2018. ISBN 978-82-326-3384-5.
Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2018) A virtual vertical reference concept for aided inertial navigation at the sea surface. Control Engineering Practice. vol. 70.
Fossen, Sindre; Fossen, Thor I.. (2018) Extended Kalman Filter Design and Motion Prediction of Ships using Live Automatic Identification System (AIS) Data. Proceedings of the European Conference on Electrical Engineering and Computer Science.
Fossen, Sindre; Fossen, Thor I.. (2018) eXogenous Kalman Filter (XKF) for Visualization and Motion Prediction of Ships using Live Automatic Identification Systems (AIS) Data. Modeling, Identification and Control. vol. 39 (4).
Gryte, Kristoffer; Hann, Richard; Alam, Mushfiqul; Rohac, Jan; Johansen, Tor Arne; Fossen, Thor I.. (2018) Aerodynamic modeling of the Skywalker X8 Fixed-Wing Unmanned Aerial Vehicle. 2018 International Conference on Unmanned Aircraft Systems.
Hansen, Jakob Mahler; Johansen, Tor Arne; Sokolova, Nadezda; Fossen, Thor I.. (2018) Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements. IEEE Transactions on Control Systems Technology.
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Schjølberg, Ingrid; Esperanca, Paulo TT. (2018) Experimental validation of attitude and rate-sensor bias filter using range-difference measurements. Control Engineering Practice. vol. 73.
Kayacan, Erkan; Fossen, Thor I.. (2018) Feedback Linearization Control for Systems with Mismatched Uncertainties via Disturbance Observers. Asian journal of control.
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne. (2018) Autonomous recovery of a fixed-wing UAV using a net suspended by two multirotor UAVs. Journal of Field Robotics (JFR). vol. 35 (5).
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2018) Redundant MEMS-based Inertial Navigation using Nonlinear Observers. Journal of Dynamic Systems Measurement, and Control. vol. 140 (7).
Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang; Fossen, Thor I.. (2018) A Neural Network Approach to Control Allocation of Ships for Dynamic Positioning. IFAC-PapersOnLine. vol. 51 (29).
Stovner, Bård Nagy; Johansen, Tor Arne; Fossen, Thor I.; Schjølberg, Ingrid. (2018) Attitude estimation by multiplicative exogenous Kalman filter. Automatica. vol. 95.

2017

Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2017) Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple-redundant sensor packages. International Journal of Adaptive Control and Signal Processing. vol. 31 (4).
Bryne, Torleiv Håland; Hansen, Jakob Mahler; Rogne, Robert Harald; Sokolova, Nadezda; Fossen, Thor I.; Johansen, Tor Arne. (2017) Nonlinear observers for integrated INS\/GNSS navigation: implementation aspects. IEEE Control Systems. vol. 37 (3).
Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2017) Inertial Sensors for Risk-Based Redundancy in Dynamic Positioning. ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering . The American Society of Mechanical Engineers (AMSE); Trondheim. 2017-06-25 - 2017-06-30.
Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2017) Inertial Sensors for Risk-Based Redundancy in Dynamic Positioning. ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 1: Offshore Technology.
Fossen, Thor I.; Lekkas, Anastasios M.. (2017) Direct and Indirect Adaptive Integral Line-of-Sight Path-Following Controllers for Marine Craft Exposed to Ocean Currents. International Journal of Adaptive Control and Signal Processing. vol. 31 (4).
Fossen, Thor I.; Nijmeijer, Henk; Pettersen, Kristin Ytterstad. (2017) Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer. 2017. ISBN 978-3-319-55371-9. Lecture notes in control and information sciences (-).
Fossen, Thor I.; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2017) Preface. Lecture notes in control and information sciences. vol. 474.
Fusini, Lorenzo; Fossen, Thor I.. (2017) Camera-aided Inertial Navigation for Unmanned Vehicles using Non-linear Observers. Norges teknisk-naturvitenskapelige universitet. 2017. ISBN 978-82-326-2522-2. Doktoravhandlinger ved NTNU (255).
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne. (2017) Nonlinear Camera- and GNSS-aided INS for Fixed-Wing UAV using the eXogenous Kalman Filter. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne. (2017) Non-linear Observers for GNSS- and Camera-Aided Inertial Navigation of a Fixed-Wing UAV. IEEE Transactions on Control Systems Technology. vol. 26 (5).
Fusini, Lorenzo; Johansen, Tor Arne; Fossen, Thor I.. (2017) Dead Reckoning of a Fixed-Wing UAV with Inertial Navigation Aided by Optical Flow. 2017 International Conference on Unmanned Aircraft Systems.
Gryte, Kristoffer; Hansen, Jakob Mahler; Johansen, Tor Arne; Fossen, Thor I.. (2017) Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS. AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum . American Institute of Aeronautics and Astronautics; Grapevine, Texas. 2017-01-09 - 2017-01-13.
Hansen, Jakob Mahler; Fossen, Thor I.; Johansen, Tor Arne. (2017) Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements. Control Engineering Practice. vol. 60.
Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Fossen, Thor I.; Johansen, Tor Arne. (2017) Tracking of Ocean Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera. Journal of Intelligent and Robotic Systems.
Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Johansen, Tor Arne; Fossen, Thor I.. (2017) Detection and Tracking of Floating Objects using an UAV with Thermal Camera. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Johansen, Tor Arne; Fossen, Thor I.. (2017) Detection and tracking of floating objects using a UAV with thermal camera. Lecture notes in control and information sciences. vol. 474.
Johansen, Tor Arne; Fossen, Thor I.. (2017) The eXogenous Kalman Filter (XKF). International Journal of Control. vol. 90 (2).
Johansen, Tor Arne; Fossen, Thor I.. (2017) Nonlinear Filtering with eXogenous Kalman Filter and Double Kalman Filter. Control Conference (ECC), 2016 European.
Johansen, Tor Arne; Hansen, Jakob Mahler; Fossen, Thor I.. (2017) Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements. Journal of Dynamic Systems Measurement, and Control. vol. 139 (1).
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne. (2017) Nonlinear Control with Swing Damping of a Multirotor UAV with Suspended Load. Journal of Intelligent and Robotic Systems. vol. 88 (2-4).
Leira, Frederik Stendahl; Fossen, Thor I.. (2017) Object Detection and Tracking With UAVs. Norges teknisk-naturvitenskapelige universitet. 2017. ISBN 978-82-326-2010-4. Doktoravhandlinger ved NTNU (1).
Leira, Frederik Stendahl; Johansen, Tor Arne; Fossen, Thor I.. (2017) A UAV Ice Tracking Framework for Autonomous Sea Ice Management. 2017 International Conference on Unmanned Aircraft Systems.
Meissen, Chris; Klausen, Kristian; Arcak, Murat; Fossen, Thor I.; Packard, Andrew. (2017) Passivity-based Formation Control for UAVs with a Suspended Load. IFAC2017 World Congress . IFAC; Tolouse, France. 2017-07-09 - 2017-07-14.
Olofsson, Jonatan; Brekke, Edmund Førland; Fossen, Thor I.; Johansen, Tor Arne. (2017) Spatially Indexed Clustering for Scalable Tracking of Remotely Sensed Drift Ice. 2017 IEEE Aerospace Conference.
Pedersen, Morten Dinhoff; Fossen, Thor I.. (2017) Stabilization of Floating Wind Turbines. Norges teknisk-naturvitenskapelige universitet. 2017. ISBN 978-82-326-2336-5. Doktoravhandlinger ved NTNU (132).
Rohac, Jan; Hansen, Jakob Mahler; Alam, Mushfiqul; Sipos, M; Johansen, Tor Arne; Fossen, Thor I.. (2017) Validation of nonlinear integrated navigation solutions. Annual Reviews in Control. vol. 43.

2016

Antonelli, Gianluca; Fossen, Thor I.; Yoerger, D.. (2016) Modeling and Control of Underwater Robotics. Springer Handbook of Robotics.
Borup, Kasper Trolle; Fossen, Thor I.; Johansen, Tor Arne. (2016) A Nonlinear Model-Based Wind Velocity Observer for Unmanned Aerial Vehicles. 10th IFAC Symposium on Nonlinear Control System (NOLCOS´16) . IFAC; Monterey, CA. 2016-08-23 - 2016-08-25.
Bryne, Torleiv Håland; Rogne, Robert Harald; Fossen, Thor I.; Johansen, Tor Arne. (2016) Attitude and Heave Estimation for Ships using MEMS-based Inertial Measurements. IFAC-PapersOnLine. vol. 49 (23).
Fossen, Thor I.. (2016) Nonlinear Observer Design for Strapdown Inertial Navigation Systems. 10th IFAC Symposium on Nonlinear Control System (NOLCOS´16) . IFAC; Monterey, CA. 2016-08-23 - 2016-08-25.
Fossen, Thor I.. (2016) People in Control. Control Systems Magazine. vol. 36 (3).
Fossen, Thor I.; Perez, Tristan. (2016) Model-based Ship Motion Control Design. Compendium of Ships Hydrodynamics. Practical Tools and Application.
Fusini, Lorenzo; Johansen, Tor Arne; Fossen, Thor I.. (2016) A globally exponentially stable non-linear velocity observer for vision-aided UAV dead reckoning. 2016 IEEE Aerospace Conference (AERO 2016).
Grip, Håvard Fjær; Fossen, Thor I.; Johansen, Tor Arne; Saberi, Ali. (2016) Nonlinear Observer for Attitude, Position and Velocity: Theory and Experiments. Multisensor Attitude Estimation: Fundamental Concepts and Applications.
Hansen, Jakob Mahler; Johansen, Tor Arne; Fossen, Thor I.. (2016) Tightly Coupled Integrated Inertial and Real-Time-Kinematic Positioning Approach Using Nonlinear Observer. American Control Conference (ACC'16) ; Boston. 2016-07-06 - 2016-07-08.
Hansen, Jakob Mahler; Rohac, Jan; Sipos, Martin; Johansen, Tor Arne; Fossen, Thor I.. (2016) Validation and Experimental Testing of Observers for Robust GNSS-Aided Inertial Navigation. Recent Advances in Robotic Systems.
Helgesen, Håkon Hagen; Leira, Frederik Stendahl; Johansen, Tor Arne; Fossen, Thor I.. (2016) Tracking of Marine Surface Objects from Unmanned Aerial Vehicles with a Pan/Tilt Unit using a Thermal Camera and Optical Flow. 2016 International Conference on Unmanned Aircraft Systems (ICUAS) . IEEE; Washington, DC. 2016-06-07 - 2016-06-10.
Hosen, Jesper; Helgesen, Håkon Hagen; Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne. (2016) A vision-aided nonlinear observer for fixed-wing UAV navigation. AIAA Guidance, Navigation, and Control Conference 2016..
Hosen, Jesper; Helgesen, Håkon Hagen; Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne. (2016) Vision-aided nonlinear observer for fixed-wing unmanned aerial vehicle navigation. Journal of Guidance Control and Dynamics. vol. 39 (8).
Johansen, Tor Arne; Fossen, Thor I.. (2016) Nonlinear Filtering with eXogenous Kalman Filter and Double Kalman Filter. European Control Conference ; 2016-06-29 - 2016-07-01.
Johansen, Tor Arne; Fossen, Thor I.. (2016) Nonlinear Observer for Tightly Coupled Integration of Pseudorange and Inertial Measurements. IEEE Transactions on Control Systems Technology. vol. 24 (6).
Johansen, Tor Arne; Fossen, Thor I.; Goodwin, Graham C.. (2016) Three-stage filter for position estimation using pseudorange measurements. IEEE Transactions on Aerospace and Electronic Systems. vol. 52 (4).
Klausen, Kristian; Moe, Jostein Borgen; van der Horn, Jornel; Gomola, Alojz; Fossen, Thor I.; Johansen, Tor Arne. (2016) Coordinated Control Concept for Recovery of a Fixed-Wing UAV on a Ship using a Net Carried by Multirotor UAVs. 2016 International Conference on Unmanned Aircraft Systems (ICUAS) . IEEE; Washington, DC. 2016-06-06 - 2016-06-19.
Mathisen, Siri Holthe; Gryte, Kristoffer; Johansen, Tor Arne; Fossen, Thor I.. (2016) Non-linear Model Predictive Control for Longitudinal and Lateral Guidance of a Small Fixed-Wing UAV in Precision Deep Stall Landing. AIAA Infotech @ Aerospace, 2016 . AIAA Scitech Forum; San Diego, California. 2016-01-04 - 2016-01-08.
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.
Perez, Tristan; Fossen, Thor I.. (2016) Hydrodynamic Models for Motion Control. Compendium of Ships Hydrodynamics. Practical Tools and Application.
Rogne, Robert Harald; Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2016) MEMS-based Inertial Navigation on Dynamically Positioned Ships: Dead Reckoning. IFAC-PapersOnLine. vol. 49 (23).
Rogne, Robert Harald; Bryne, Torleiv Håland; Johansen, Tor Arne; Fossen, Thor I.. (2016) Fault detection in lever-arm-compensated position reference systems based on nonlinear attitude observers and inertial measurements in dynamic positioning. American Control Conference (ACC).
Stovner, Bård Bakken; Johansen, Tor Arne; Fossen, Thor I.; Schjølberg, Ingrid. (2016) Three-stage filter for position and velocity estimation from long baseline measurements with unknown wave speed. American Control Conference (ACC).

2015

Belleter, Dennis Johannes Wouter; Galeazzi, Roberto; Fossen, Thor I.. (2015) Experimental Verification of a Global Exponentially Stable Nonlinear Wave Encounter Frequency Estimator. Ocean Engineering. vol. 97.
Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2015) A virtual vertical reference concept for GNSS/INS applications at the sea surface. IFAC-PapersOnLine. vol. 48 (16).
Fortuna Araujo, Joao Filipe; Fossen, Thor I.. (2015) Cascaded line-of-sight path-following and sliding mode controllers for fixed-wing UAVs. 2015 IEEE Conference on Control Applications, CCA 2015.
Fortuna, Joao; Fossen, Thor I.. (2015) Cascaded Line-of-Sight Path-Following and Sliding Mode Controllers for Fixed-Wing UAVs. 2015 IEEE Multi-Conference on Systems and Control (MSC'15) ; Sydney. 2015-09-21 - 2015-09-23.
Fossen, Thor I.. (2015) IEEE gjør ære på kybernetiker. Universitetsavisa [Internett]. 2015-11-30.
Fossen, Thor I.. (2015) Mathematical Models of Ships and Underwater Vehicles. Encyclopedia of Systems and Control.
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. vol. 23 (2).
Fusini, Lorenzo; Hosen, Jesper; helgesen, håkon hagen; Johansen, Tor Arne; Fossen, Thor I.. (2015) Experimental Validation of a Uniformly Semi-globally Exponentially Stable Non-linear Observer for GNSS- and Camera-aided Inertial Navigation for Fixed-wing UAVs. International Conference on Unmanned Aircraft Systems (ICUAS'15) ; Denver. 2015-06-09 - 2015-06-12.
Gryte, Kristoffer; Fossen, Thor I.. (2015) High Angle of Attack Landing of an Unmanned Aerial Vehicle. Norges teknisk-naturvitenskapelige universitet. 2015.
Hansen, Jakob Mahler; Fossen, Thor I.; Johansen, Tor Arne. (2015) Nonlinear Observer for INS Aided by Time-Delayed GNSS Measurements - Implementation and UAV Experiments. 2015 International Conference on Unmanned Aircraft Systems (ICUAS).
Johansen, Tor Arne; Cristofaro, Andrea; Sørensen, Kim; Hansen, Jakob Mahler; Fossen, Thor I.. (2015) On Estimation of Wind Velocity, Angle-of-Attack and Sideslip Angle of small UAVs using Standard Sensors. 2015 International Conference on Unmanned Aircraft Systems (ICUAS).
Johansen, Tor Arne; Fossen, Thor I.. (2015) Nonlinear Observer for Inertial Navigation Aided by Pseudo-Range and Range-Rate Measurements. Proceedings of the 14th European Control Conference 2015 (ECC 2015).
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne. (2015) Nonlinear control of a multirotor UAV with suspended load. 2015 International Conference on Unmanned Aircraft Systems (ICUAS) ; 2015-06-08 - 2015-06-10.
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne; Aguiar, A. P.. (2015) Cooperative path-following for multirotor UAVs with a suspended payload. 2015 IEEE Conference on Control Applications, CCA 2015.
Leira, Frederik Stendahl; Johansen, Tor Arne; Fossen, Thor I.. (2015) Automatic detection, classification and tracking of objects in the ocean surface from UAVs using a thermal camera. IEEE Aerospace Conference. Proceedings. vol. 2015-June.
Leira, Frederik Stendahl; Trnka, Kenan; Fossen, Thor I.; Johansen, Tor Arne. (2015) A Light-Weight Thermal Camera Payload with Georeferencing Capabilities for Small Fixed-Wing UAVs. 2015 International Conference on Unmanned Aircraft Systems (ICUAS).
Linder, Jonas; Enqvist, Martin; Fossen, Thor I.; Johansen, Tor Arne; Gustafsson, Fredrik. (2015) Modeling for IMU-based online estimation of a ship's mass and center of mass. IFAC-PapersOnLine. vol. 48 (16).
Linder, Jonas; Enqvist, Martin; Fossen, Thor I.; Johansen, Tor Arne; Gustafsson, Fredrik. (2015) Online estimation of ship's mass and center of mass using inertial measurements. IFAC-PapersOnLine. vol. 48 (16).
Mathisen, Siri Holthe; Fossen, Thor I.; Johansen, Tor Arne. (2015) Nonlinear Model Predictive Control for Guidance of a Fixed-Wing UAV in Precision Deep Stall Landing. 2015 International Conference on Unmanned Aircraft Systems (ICUAS'15) ; Denver, Colorado. 2015-07-09 - 2015-07-12.
Nielsen, Ulrik Dam; Bjerregård, Mikkel; Galeazzi, Roberto; Fossen, Thor I.. (2015) New Concepts for Shipboard Sea State Estimation. OCEANS'15 MTS/IEEE Washington, Washington DC, 19-22 October, 2015.
Peymani, Ehsan; Fossen, Thor I.. (2015) Path Following of Underwater Robots using Lagrange Multipliers. Robotics and Autonomous Systems. vol. 67.
Rogne, Robert Harald; Johansen, Tor Arne; Fossen, Thor I.. (2015) On Attitude Observers in Inertial Navigation Based Fault Detection and Isolation in Dynamic Positioning. European Control Conference (ECC'15) ; Linz. 2015-07-15 - 2015-07-17.
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. vol. 30 (5).
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. vol. 2015-June.

2014

Borup, Kasper Trolle; Fossen, Thor I.; Braga, Jose; Sousa, João. (2014) Nonlinear Observer for Depth-Aided INS: Experimental Evaluation using an AUV. Mediterranean Conference on Control and Automation (MED).
Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne. (2014) Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning. Mediterranean Conference on Control and Automation (MED).
Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2014) On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica. vol. 50 (11).
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne. (2014) A Uniformly Semiglobally Exponentially Stable Nonlinear Observer for GNSS- and Camera-Aided Inertial Navigation. Mediterranean Conference on Control and Automation (MED).
Grip, Håvard Fjær; Fossen, Thor I.; Johansen, Tor Arne; Saberi, Ali. (2014) Globally Exponentially Stable Attitude and Gyro Bias Estimation with Application to GNSS/INS Integration. Automatica. vol. 51.
Klausen, Kristian; Fossen, Thor I.; Johansen, Tor Arne. (2014) Suspended Load Motion Control using Multicopters. Mediterranean Conference on Control and Automation (MED).
Lekkas, Anastasios M.; Fossen, Thor I.. (2014) Minimization of cross-track and along-track errors for path tracking of marine underactuated vehicles. Proceedings of 2014 European Control Conference (ECC 2014).
Lekkas, Anastasios; Fossen, Thor I.. (2014) Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization. IEEE Transactions on Control Systems Technology. vol. 22 (6).
Lekkas, Anastasios; Fossen, Thor I.. (2014) Trajectory tracking and ocean current estimation for marine underactuated vehicles. Proceedings of the IEEE Conference on Control Applications.
Peymani, Ehsan; Grip, Håvard Fjær; Saberi, Ali; Wang, Xu; Fossen, Thor I.. (2014) H∞ almost output synchronization for heterogeneous networks of introspective agents under external disturbances. Automatica. vol. 50 (4).
Rogne, Robert Harald; Johansen, Tor Arne; Fossen, Thor I.. (2014) Observer and IMU-based Detection and Isolation of Faults in Position Reference Systems and Gyrocompasses with Dual Redundancy in Dynamic Positioning. Proceedings of the IEEE Conference on Control Applications.

2013

Candeloro, Mauro; Lekkas, Anastasios; Sørensen, Asgeir Johan; Fossen, Thor I.. (2013) Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals. The 9th IFAC Conference on Control Applications in Marine Systems 2013 ; Osaka. 2013-09-17 - 2103-09-20.
Auestad, Øyvind Fidje; Gravdahl, Jan Tommy; Fossen, Thor I.. (2013) Heave Motion Estimation on a Craft Using a Strapdown Inertial Measurement Unit. Elsevier IFAC Publications / IFAC Proceedings series.
Belleter, Dennis Johannes Wouter; Breu, Dominik Andreas; Fossen, Thor I.; Nijmeijer, H. (2013) A Globally K-Exponentially Stable Nonlinear Observer for Wave Encounter Frequency. Elsevier IFAC Publications / IFAC Proceedings series.
Candeloro, Mauro; Lekkas, Anastasios; Sørensen, Asgeir Johan; Fossen, Thor I.. (2013) Continuous Curvature Path Planning using Voronoi diagrams and Fermat's spirals. Elsevier IFAC Publications / IFAC Proceedings series.
Dahl, Andreas Reason; Fossen, Thor I.; Lekkas, Anastasios M.. (2013) Path Planning and Guidance for Marine Surface Vessels. Norges teknisk-naturvitenskapelige universitet. 2013.
Forsmo, Erik Johannes; Grøtli, Esten Ingar; Fossen, Thor I.; Johansen, Tor Arne. (2013) Optimal search mission with Unmanned Aerial Vehicles using Mixed Integer Linear Programming. 2013 International Conference on Unmanned Aircraft Systems.
Grip, Håvard Fjær; Fossen, Thor I.; Johansen, Tor Arne; Saberi, Ali. (2013) Nonlinear Observer for GNSS-Aided Inertial Navigation with Quaternion-Based Attitude Estimation. American Control Conference (ACC), 2013.
Johansen, Tor Arne; Fossen, Thor I.. (2013) Control Allocation - A Survey. Automatica. vol. 49 (5).
Lekkas, Anastasios; Dahl, Andreas R; Breivik, Morten; Fossen, Thor I.. (2013) Continuous-Curvature Path Generation using Fermat's Spiral. Modeling, Identification and Control. vol. 34 (4).
Lekkas, Anastasios; Fossen, Thor I.. (2013) A Quaternion-Based LOS Guidance Scheme for Path Following of AUVs. The 9th IFAC Conference on Control Applications in Marine Systems 2013 ; Osaka. 2013-09-17 - 2103-09-20.
Lekkas, Anastasios; Fossen, Thor I.. (2013) Line-of-Sight Guidance for Path Following of Marine Vehicles. Advanced in Marine Robotics.
Peymani, Ehsan; Fossen, Thor I.. (2013) 2D Path Following for Marine Craft: A Least-Square Approach. Elsevier IFAC Publications / IFAC Proceedings series. vol. 9 (1).
Peymani, Ehsan; Fossen, Thor I.. (2013) Speed-variant Path Following for Underactuated Marine Craft. The 9th IFAC Conference on Control Applications in Marine Systems 2013 ; Osaka. 2013-09-17 - 2103-09-20.
Peymani, Ehsan; Fossen, Thor I.. (2013) Speed-variant Path Following for Underactuated Marine Craft. Elsevier IFAC Publications / IFAC Proceedings series.
Peymani, Ehsan; Grip, Håvard Fjær; Saberi, Ali; Fossen, Thor I.. (2013) H-infinity Almost Synchronization for Homogeneous Networks of Non-Introspective SISO Agents Under External Disturbances. Proceedings 52nd IEEE Conference on Decision and Control December 10-13, 2013. Florence, Italy.
Peymani, Ehsan; Grip, Håvard Fjær; Saberi, Ali; Wang, Xu; Fossen, Thor I.. (2013) H-infinity Almost Regulated Synchronization and H-infinity Almost Formation for Heterogeneous Networks under External Disturbances. Proceedings of 2013 European Control Conference (ECC).

2012

Belleter, Dennis; Breu, Dominik Andreas; Fossen, Thor I.; Nijmeijer, Henk. (2012) Nonlinear Observability and Observer Design for Parametric Roll Resonance. Proceedings. Stability of Ships and Ocean Vehicles (STAB) 2012.
Breu, Dominik Andreas; Feng, Le; Fossen, Thor I.. (2012) Optimal Speed and Heading Control for Stabilization of Parametric Oscillations in Ships. Parametric Resonance in Dynamical Systems.
Breu, Dominik Andreas; Holden, Christian; Fossen, Thor I.. (2012) Ship Model for Parametric Roll Incorporating the Effects of Time-Varying Speed. Parametric Resonance in Dynamical Systems.
Breu, Dominik Andreas; Holden, Christian; Fossen, Thor I.. (2012) Stability of Ships in Parametric Roll Resonance Under Time-Varying Heading and Speed. Proceedings. Stability of Ships and Ocean Vehicles (STAB) 2012.
Fossen, Thor I.. (2012) Kybernetikk på IKT-toppen. Universitetsavisa [Internett]. 2012-03-29.
Fossen, Thor I.. (2012) Low-Cost Integrated Navigation Systems for Autonomos Underwater Vehicles. XXXIII Jornadas de Automatica ; Vigo. 2012-09-05 - 2012-09-07.
Fossen, Thor I.. (2012) Nonlinear Maneuvering Theory and Path-Following Control. Marine Technology and Engineering : CENTEC Anniversary Book.
Fossen, Thor I.. (2012) Nonlinear Observer Design for Strapdown Inertial Navigation. 10th European Workshop on Advanced Control and Diagnosis . Technical University of Denmark (DTU); Lyngby. 2012-11-08 - 2012-11-09.
Fossen, Thor I.. (2012) Nonlinear Observers for Integration of Position and IMU Measurements. 3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles ; 2012-04-10 - 2012-04-12.
Fossen, Thor I.. (2012) Parametric roll resonance: frequency de-tuning and active control. 9th IFAC Conference on Manoeuvring and Control of Marine Craft ; Arenzano. 2012-09-19 - 2012-09-21.
Fossen, Thor I.. (2012) Satser på ubemannede fly. Adresseavisen [Avis]. 2012-05-21.
Fossen, Thor I.; Nijmeijer, Henk. (2012) Parametric Resonance in Dynamical Systems. Springer. 2012. ISBN 978-1-4614-1042-3.
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. vol. 134 (4).
Grip, Håvard Fjær; Fossen, Thor I.; Johansen, Tor Arne; Saberi, Ali. (2012) A Nonlinear Observer for Integration of GNSS and IMU Measurements with Gyro Bias Estimation. Proceedings of the 2012 American Control Conference (ACC).
Grip, Håvard Fjær; Fossen, Thor I.; Johansen, Tor Arne; Saberi, Ali. (2012) Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors. IEEE Transactions on Automatic Control. vol. 57 (5).
Holden, Christian; Breu, Dominik Andreas; Fossen, Thor I.. (2012) Frequency Detuning Control by Doppler Shift. Parametric Resonance in Dynamical Systems.
Holden, Christian; Fossen, Thor I.. (2012) A Nonlinear 7-DOF Model for U-Tanks of Arbitrary Shape. Ocean Engineering. vol. 45.
Holden, Christian; Fossen, Thor I.. (2012) A U-Tank Control System for Ships in Parametric Roll Resonance. Parametric Resonance in Dynamical Systems.
Lekkas, Anastasios; Fossen, Thor I.. (2012) A Time-Varying Lookahead Distance Guidance Law for Path Following. 9th IFAC Conference on Maneouvring and Control of Marine Craft ; Arenzano. 2012-09-19 - 2012-09-21.
Pedersen, Morten Dinhoff; Fossen, Thor I.. (2012) Efficient Nonlinear Wind-Turbine Modeling For Control Applications. 7th Vienna International Conference on Mathematical Modelling ( MATHMOD 2012 ).
Pedersen, Morten Dinhoff; Fossen, Thor I.. (2012) Efficient Nonlinear Wind-Turbine Modeling for Control Applications. MATHMOD 2012, 7th Vienna International Conference on Mathematical Modelling ; Wien, Austria. 2012-02-15 - 2012-02-17.
Pedersen, Morten Dinhoff; Fossen, Thor I.. (2012) Marine Vessel Path Planning & Guidance Using Potential Flow. MCMC'2012 . IFAC; Arenzano. 2012-09-19 - 2012-09-21.
Peymani, Ehsan; Fossen, Thor I.. (2012) Direct Inclusion of Geometric Errors for Path Maneuvering of Marine Craft. 9th IFAC Conference on Maneouvring and Control of Marine Craft . IFAC; Arenzano. 2012-09-19 - 2012-09-21.
Peymani, Ehsan; Fossen, Thor I.. (2012) Leader-Follower Formation of Marine Craft using Constraint Forces and Lagrange Multipliers. The 51st IEEE Conference on Decision and Control . IEEE; Maui, Hawaii. 2012-12-10 - 2012-12-13.
Xiao, Lin; Fossen, Thor I.; Jouffroy, Jerome. (2012) Nonlinear Robust Heading Control for Sailing Yacht. 9th IFAC Conference on Maneouvring and Control of Marine Craft ; 2012-09-19 - 2012-09-21.

2011

Breu, Dominik Andreas; Fossen, Thor I.. (2011) L1 Adaptive and Extremum Seeking Control Applied to Roll Parametric Resonance in Ships. Proceedings 2011 IEEE International Conference on Control and Automation, Santiago, Chile.
Fossen, Thor I.. (2011) Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley-Blackwell. 2011. ISBN 978-1-1199-9149-6.
Holden, Christian; Fossen, Thor I.. (2011) Modeling and Control of Parametric Roll Resonance. Norges teknisk-naturvitenskapelige universitet. 2011. ISBN 978-82-471-2896-1. Doktoravhandlinger ved NTNU (174).
Holden, Christian; Perez, Tristan; Fossen, Thor I.. (2011) A Langrangian Approach to Nonlinear Modeling og Anti-Roll Tanks. Ocean Engineering. vol. 38 (2-3).
Perez, Tristan; Fossen, Thor I.. (2011) Motion Control of Marine Craft. The Control Systems Handbook: Control System Advanced Methods (2nd Edition).
Perez, Tristan; Fossen, Thor I.. (2011) Practical aspects of frequency-domain identification of dynamic models of marine structures fromhydrodynamic data. Ocean Engineering. vol. 38 (2-3).
Peymani, Ehsan; Fossen, Thor I.. (2011) Motion Control of Marine Craft Using Virtual Positional and Velocity Constraints. Proceedings 2011 IEEE International Conference on Control and Automation, Santiago, Chile.

2010

Breu, Dominik Andreas; Fossen, Thor I.. (2010) Extremum Seeking Speed and Heading Control Applied to Parametric Roll Resonance. The 8th IFAC CAMS2010, Conference on Control Applications in Marine Systems . IFAC; Warnemünde (Rostock). 2010-09-15 - 2010-09-17.
Breivik, Morten; Fossen, Thor I.. (2010) Topics in Guided Motion Control of Marine Vehicles. 2010. Doktoravhandlinger ved NTNU (2010:63).
Breu, Dominik Andreas; Fossen, Thor I.. (2010) Extremum Seeking Speed and Heading Control Applied to Parametric Roll Resonance. Elsevier IFAC Publications / IFAC Proceedings series.
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. 7th Symposium on Intelligent Autonomous Vehicles . IFAC; Lecce. 2010-09-06 - 2010-09-08.
Jensen, Gullik A.; Säfström, Niklas; Nguyen, Tu Duc; Fossen, Thor I.. (2010) A nonlinear PDE formulation for offshore vessel pipeline installation. Ocean Engineering. vol. 37 (4).
Jouffroy, Jerome; Fossen, Thor I.. (2010) A Tutorial on Incremental Stability Analysis using Contraction Theory. Modeling, Identification and Control. vol. 31 (3).
Perez, Tristan; Fossen, Thor I.. (2010) Motion Control of Marine Craft. The Control Handbook, Second Edition: Control System Applications, Second Edition.

2009

Breivik, Morten; Fossen, Thor I.. (2009) Guidance Laws for Autonomous Underwater Vehicles. Underwater Vehicles.
Fossen, Thor I.; Johansen, Tor Arne; Perez, Tristan. (2009) A Survey of Control Allocation Methods for Underwater Vehicles. Underwater Vehicles.
Fossen, Thor I.; Perez, Tristan. (2009) Kalman Filtering for Positioning and Heading Control of Ships and Offshore Rigs. Control Systems Magazine. vol. 29 (6).
Galeazzi, Roberto; Holden, Christian; Blanke, Mogens; Fossen, Thor I.. (2009) Stabilization of Parametric Roll Resonance by Combined Speed and Fin Stabilizer Control. Proceedings European Control Conference, Budapest, 2009.
Holden, Christian; Galeazzi, Roberto; Fossen, Thor I.; Perez, Tristan. (2009) Stabilization of parametric roll resonance with active u-tanks via lyapunov control design. European Control Conference 2009 . IFAC og IEEE CSS; Budapest. 2009-08-23 - 2009-08-26.
Jensen, Gullik A.; Breivik, Morten; Fossen, Thor I.. (2009) Offshore Pipelay Operations from a Control Perspective. Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering . ASME; Honolulu, Hawaii. 2009-05-31 - 2009-06-05.
Jensen, Gullik A.; Fossen, Thor I.. (2009) A Robotic Approach to Nonlinear Dynamic Modeling of Offshore Pipelaying Operations. IFAC MCMC 2009 . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
Jensen, Gullik A.; Fossen, Thor I.. (2009) Mathematical Models for Model-Based Control in Offshore Pipelay Operations. Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering - OMAE2009.
Jensen, Gullik A.; Säfström, Niklas; Nguyen, Tu Duc; Fossen, Thor I.. (2009) Modeling and Control of Offshore Pipelay Operations Based on a Finite Strain Pipe Model. ACC 2009 . AACC; St. Louis. 2009-06-10 - 2009-06-12.
Perez, Tristan; Fossen, Thor I.. (2009) A Matlab Toolbox for Parametric Identification of Radiation-Force Models of Ships and Offshore Structures. Modeling, Identification and Control. vol. 30 (1).
Skejic, Renato; Breivik, Morten; Fossen, Thor I.; Faltinsen, Odd Magnus. (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

Alfaro-Cid, E; McGookin, EW; Murray-Smith, DJ; Fossen, Thor I.. (2008) Genetic programming for the automatic design of controllers for a surface ship. IEEE transactions on intelligent transportation systems (Print). vol. 9.
Antonelli, G.; Fossen, Thor I.; Yoerger, D.. (2008) Underwater Robotics. Chapter 43.2 in: "Handbook on Robotics". Springer. 2008. ISBN 978-3-540-23957-4.
Breivik, Morten; Fossen, Thor I.. (2008) Guidance Laws for Planar Motion Control. Proceedings of the 47 IEEE CDC . Institute of Electrical and Electronics Engineers; Cancun. 2008-12-09 - 2008-12-11.
Breivik, Morten; Hovstein, Vegard Evjen; Fossen, Thor I.. (2008) Ship Formation Control: A Guided Leader-Follower Approach. Proceedings of the 17th IFAC World Congress . International Federation of Automatic Control; Seoul. 2008-07-06 - 2008-07-11.
Breivik, Morten; Hovstein, Vegard Evjen; Fossen, Thor I.. (2008) Straight-Line Target Tracking for Unmanned Surface Vehicles. Modeling, Identification and Control. vol. 29 (4).
Grip, Håvard Fjær; Imsland, Lars Struen; Johansen, Tor Arne; Fossen, Thor I.; Kalkkuhl, Jens C.; Suissa, Avshalom. (2008) Nonlinear vehicle side-slip estimation with friction adaptation. Automatica. vol. 44.
Imsland, Lars Struen; Grip, Håvard Fjær; Johansen, Tor Arne; Fossen, Thor I.; Kalkkuhl, Jens; Suissa, Avshalom. (2008) Nonlinear Observer for Vehicle Velocity with Friction and Road Bank Angle Adaptation - Validation and Comparison with an Extended Kalman Filter. SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems.
Johansen, Tor Arne; Fuglseth, Thomas Pagaard; Tøndel, Johan Petter; Fossen, Thor I.. (2008) Optimal constrained control allocation in marine surface vessels with rudders. Control Engineering Practice. vol. 16 (4).
Perez, Tristan; Fossen, Thor I.. (2008) A Derivation of High-frequency Asymptotic Values of 3D Added Mass and Damping Based on Properties of The Cummins' Equation. Journal of Maritime Research. vol. 5 (1).
Perez, Tristan; Fossen, Thor I.. (2008) Joint Identification of Infinite-Frequency Added Mass and Fluid-memory Models of Marine Structures. Modeling, Identification and Control. vol. 29 (3).
Perez, Tristan; Fossen, Thor I.. (2008) Time- vs. Frequency-domain Identification of Parametric Radiation Force Models for Marine Structures at Zero Speed. Modeling, Identification and Control. vol. 29 (1).

2007

Holden, Christian; Galeazzi, Roberto; Rodriguez, C; Perez, Tristan; Fossen, Thor I.; Blanke, Mogens; Neves, Marcelo A.S.. (2007) Nonlinear Container Ship Model for the Study of Parametric Roll Resonance. Modeling, Identification and Control. vol. 28 (4).
Imsland, L; Grip, Håvard Fjær; Johansen, Tor Arne; Fossen, Thor Inge; Kalkkuhl, Jens; Suissa, Avshalom. (2007) Nonlinear observer for lateral velocity with friction and road bank adaptation. SAE World Congress ; Detroit. 2007-04-16.
Moreira, Lucia; Fossen, Thor I.; Soares, Carlos Guedes. (2007) Path Following Control System for a Tanker Ship Model. Ocean Engineering. vol. 34.
Breivik, Morten; Fossen, Thor Inge. (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.
Grip, Håvard Fjær; Imsland, Lars Struen; Johansen, Tor Arne; Fossen, Thor Inge. (2007) Hvor fort går det?. Automatisering & Industridata. vol. 16 (2).
Holden, Christian; Perez, Tristan; Fossen, Thor Inge. (2007) Frequency-Motivated Observer Design for the Prediction of Parametric Roll Resonance. Conference on Control Applications in Marine Systems 2007 . IFAC; Bol. 2007-09-18 - 2007-09-21.
Ihle, Ivar Andre Flakstad; Arcak, Murat; Fossen, Thor Inge. (2007) Passivity-based designs for synchronized path-following. Automatica. vol. 43 (9).
Imsland, L; Johansen, Tor Arne; Grip, Håvard Fjær; Fossen, Thor Inge. (2007) On nonlinear unknown input observers - applied to lateral vehicle velocity estimation on banked roads. International Journal of Control. vol. 80 (11).
Johansen, T.A.; Sørensen, Asgeir Johan; Nordahl, O.J.; Mo, O.; Fossen, Thor Inge. (2007) Experiences from Hardware-in-the-loop (HIL) Testing of dynamic Positioning and Power Management systems. OSV Singapore . Joint Branch of RINA-IMarEST Singapore and CORE; 2007-09-24 - 2007-09-25.
Perez, Tristan; Armstrong, T; Ross, Andrew; Fossen, Thor I.. (2007) Validation of a 4DOF Manoeuvring Model of a High-speed Vehicle-Passenger Trimaran. Ninth International Conference on Fast Sea Transportation FAST2007 ; Changhai. 2007-09-23 - 2007-09-27.
Perez, Tristan; Fossen, Thor I.. (2007) Kinematic Models for Manoeuvring and Seakeeping of Marine Vessels. Modeling, Identification and Control. vol. 28 (1).
Pivano, Luca; Johansen, Tor Arne; Smogeli, Øyvind Notland; Fossen, Thor Inge. (2007) Nonlinear Thrust Controller for Marine Propellers in Four-Quadrant Operations. American Control Conference 2007 ; New York. 2007-07-11 - 2007-07-13.
Pivano, Luca; Whitcomb, Louis L.; Johansen, Tor Arne; Fossen, Thor Inge. (2007) Preliminary Simulation Studies of a New Four-Quadrant Propeller Thrust Controller Applied to Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series.
Rodriguez, C; Holden, Christian; Perez, Tristan; Drummen, Ingo; Neves, Marcelo A.S.; Fossen, Thor Inge. (2007) Validation of a Container Ship Model for Parametric Rolling. The 9th International Ship Stability Conference . Germanischer Lloyd; Hamburg. 2007-08-30 - 2007-08-31.
Ross, Andrew; Perez, Tristan; Fossen, Thor I.. (2007) A Novel Maneuvering Model Based on Low-Aspect Ratio Lift Theory and Lagrangian Mechanics. IFAC Conference on Control Applications in Marine Systems ; 2007-09-19 - 2007-09-21.

2006

Ò'Catháin, Micheál; Fossen, Thor I.; Leira, Bernt Johan. (2006) Control-oriented Modeling of a Two-body Interconnected Marine Structure. 7th IFAC conference on Manoeuvring and Control of Mareine Craft . MCMC 2006; Lisboa. 2006-09-20 - 2006-09-22.
arrichiello, Filippo; Chiaverini, Stefano; Fossen, Thor Inge. (2006) Formation Control of Underactuated Surface Vessels using the Null-Space-Based Behavioral Control. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Beijing. 2006-10-09 - 2006-10-15.
Breivik, Morten; Fossen, Thor Inge. (2006) A Unified Control Concept for Autonomous Underwater Vehicles. 2006 American Control Conference ; 2006-06-14 - 2006-06-16.
Breivik, Morten; Fossen, Thor Inge. (2006) Hybrid Topics for Marine Motion Control Systems. 9th International Workshop on Hybrid Systems: Computation and Control ; 2006-03-29 - 2006-03-31.
Breivik, Morten; Fossen, Thor Inge. (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.
Breivik, Morten; Strand, Jann Peter; Fossen, Thor Inge. (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.
Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. (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.
Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. (2006) Guided Formation Control for Wheeled Mobile Robots. Proceedings of the International Conference on Control, Automation, Robotics and Vision 2006.
Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. (2006) Kinematic aspects of guided formation control in 2D. Lecture notes in control and information sciences. vol. 336.
Fossen, Thor Inge; Johansen, Tor Arne. (2006) A Survey of Control Allocation Methods for Ships and Underwater Vehicles. 14th IEEE Mediterriaen Conference on Control and Automation ; Ancona. 2006-06-28 - 2006-06-30.
Fossen, Thor Inge; Ross, Andrew. (2006) Nonlinear Modelling, Identification, and Control of UUVs. Guidance and Control of Unmanned Marine Vehicles.
Golding, Benjamin; Ross, Andrew; Fossen, Thor Inge. (2006) Identification of Nonlinear Viscous Damping for Marine Vessels. 14th IFAC Symposium on Systems Identification . IFAC; New Castel. 2006-03-29 - 2006-03-31.
Grip, Håvard Fjær; Imsland, Lars; Johansen, Tor A.; Fossen, Thor I.; Kalkkuhl, Jens C.; Suissa, Avshalom. (2006) Nonlinear Vehicle Velocity Observer with Road-Tire Friction Adaptation. 45th IEEE Conference on Decision and Control . IEEE; San Diego, California. 2006-12-13 - 2006-12-15.
Ihle, Ivar Andre Flakstad; Arcak, Murat; Fossen, Thor Inge. (2006) Passivity-Based Designs for Synchronized Path Following. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
Ihle, Ivar Andre Flakstad; Fossen, Thor Inge; Arcak, Murat. (2006) Synchronized Path Following: Continuous-time and sampled-data design. 1st Workshop on Hybrid Marine Control Systems . CeSOS, NTNU; Oppdal. 2006-02-16 - 2006-02-17.
Ihle, Ivar Andre Flakstad; Fossen, Thor Inge; Jouffroy, Jerome. (2006) Formation Control of Marine Surface Craft: A Lagrangian Approach. IEEE Journal of Oceanic Engineering. vol. 31 (3).
Ihle, Ivar Andre Flakstad; Jouffroy, Jerome; Fossen, Thor Inge. (2006) Robust Combined Position and Formation Control for Marine Surface Craft. 17th International Symposium on Mathematical Theory of Networks and Systems ; kYOTO. 2006-07-24 - 2006-07-28.
Ihle, Ivar Andre Flakstad; Jouffroy, Jerome; Fossen, Thor Inge. (2006) Robust formation control of marine craft using Lagrange multipliers. Lecture notes in control and information sciences. vol. 336.
Imsland, Lars Struen; Johansen, Tor Arne; Fossen, Thor Inge; Grip, Håvard Fjær; Kalkkuhl, Jens; Suissa, Avshalom. (2006) Vehicle velocity estimation using nonlinear observers. Automatica. vol. 42.
Imsland, Lars; Grip, Håvard Fjær; Böhm, Christoph; Johansen, Tor A.; Fossen, Thor I.; Kalkkuhl, Jens C.; Suissa, Avshalom. (2006) Nonlinear Observer for Vehicle Lateral Velocity. HYCON & CEmACS Workshop on Automotive Systems and Control ; 2006-06-01 - 2006-06-02.
Ò'Catháin, Micheál; Fossen, Thor Inge; Leira, Bernt J.. (2006) Control-Oriented Modeling of a 2-Body Interconnected Marine Structure. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20 - 2006-09-22.
Perez, Tristan; Fossen, Thor Inge. (2006) Time-domain models of marine surface vessels based on seakeeping computations. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-10 - 2006-09-22.
Perez, Tristan; Fossen, Thor Inge. (2006) Time-domain models of marine surface vessels for simulation and control design based on seakeeping computations. 7th IFAC Confererence on Manoeuvring and Control of Marine Craft MCMC'06 . IFAC; Lisbon. 2006-09-20 - 2006-09-22.
Perez, Tristan; Ross, Andrew; Fossen, Thor Inge. (2006) A 4 DOF Simulink Model of a Coastal Patrol Vessel for Maneuvering in Waves. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20.
Pivano, Luca; Fossen, Thor Inge; Johansen, Tor Arne. (2006) NONLINEAR MODEL IDENTIFICATION OF A MARINE PROPELLER OVER FOUR-QUADRANT OPERATIONS. 14th IFAC Symposium on System Identification . IFAC; 2006-03-29 - 2006-03-31.
Pivano, Luca; Smogeli, Øyvind Notland; Fossen, Thor Inge; Johansen, Tor Arne. (2006) EXPERIMENTAL VALIDATION OF A MARINE PROPELLER THRUST ESTIMATION SCHEME. 7th IFAC Conference on Maneuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
Pivano, Luca; Smogeli, Øyvind Notland; Johansen, Tor Arne; Fossen, Thor Inge. (2006) Marine Propeller Thrust Estimation in Four-Quadrant Operations. 45th IEEE Conference on Decision and Control ; 2006-12-13 - 2006-12-15.
Ross, Andrew; Perez, Tristan; Fossen, Thor Inge. (2006) Clarification of the Low-Frequency Modelling Concept for Marine Craft. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20 - 2006-09-22.
Unneland, Kari; Fossen, Thor Inge; Van Dooren, Paul; Egeland, Olav. (2006) Low Order Potential Damping Models for Surface Vessels. 7th IFAC Conference on Manoeuvring and Control of Marine Craft . IFAC; Lisboa. 2006-09-20 - 2006-09-22.

2005

Breivik, Morten; Fossen, Thor Inge. (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.
Breivik, Morten; Fossen, Thor Inge. (2005) Guidance-Based Path Following for Autonomous Underwater Vehicles. OCEANS'05 . MTS, IEEE OES; Washington D.C.. 2005-09-18 - 2005-09-23.
Breivik, Morten; Fossen, Thor Inge. (2005) Guidance-Based Path Following for Wheeled Mobile Robots. 16th IFAC World Congress . IFAC; Prague. 2005-07-03 - 2005-07-08.
Breivik, Morten; Fossen, Thor Inge. (2005) Principles of Guidance-Based Path Following in 2D and 3D. 43rd IEEE CDC . IEEE CSS; Sevilla. 2005-12-12 - 2005-12-15.
Fossen, Thor Inge. (2005) A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway. International Journal of Bifurcation and Chaos in Applied Sciences and Engineering. vol. 15 (9).
Ihle, Ivar Andre Flakstad; Jouffroy, Jerome; Fossen, Thor Inge. (2005) Formation Conntrol of Marine Craft using Constraint Functions. OCEANS 2005 . IEEE/MTS; Washington DC. 2005-09-19 - 2005-09-23.
Ihle, Ivar Andre Flakstad; Skjetne, Roger; Fossen, Thor Inge. (2005) Output Feedback Control for Maneuvering Systems Using Observer Backstepping. ISIC-MED 2005 . IEEE; Limassol. 2005-06-27 - 2005-06-29.
Ihle, Ivar Andre Flakstad; Skjetne, Roger; Fossen, Thor Inge. (2005) Output Feedback Control for Maneuvering Systems Using Observer Backstepping. Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation.
Imsland, Lars Struen; Johansen, Tor Arne; Fossen, Thor Inge; Kalkkuhl, J.C.; Suissa, Avshalom. (2005) Vehicle Velocity Estimation using Nonlinear Observers. CDC-ECC-2005 . IEEE; Seville. 2005-12-12 - 2005-12-15.
Marcal, Jose Marie Sousa Do Val; Jouffroy, Jerome; Fossen, Thor Inge. (2005) An Extended Set-Valued Observer for Position Estimation using Single Range Measurements. International Symposium on Unmanned Untethered Submersible Technology (UUST) ; Durham, New Hampshire. 2005-08-21 - 2005-08-24.
Moreira, L.; Fossen, Thor Inge; Soares, Carlos Guedes. (2005) Modeling, Guidance and Control of "Esso Osaka" Model. IFAC World Congress . IFAC; Praha. 2005-07-01 - 2005-07-05.
Perez, Tristan; Fossen, Thor Inge. (2005) Kinematics of Ship Motion. Ship motion control: course keeping and roll stabilisation using rudder and fins.
Perez, Tristan; Fossen, Thor Inge. (2005) Ship Kinetics. Ship motion control: course keeping and roll stabilisation using rudder and fins.
Perez, Tristan; Smogeli, Øyvind Notland; Fossen, Thor Inge; Sørensen, Asgeir Johan. (2005) An Overview of Marine Systems Simulator (MSS): A Simulink Toolbox for Marine ControlSystems. SIMS 2005 46th Conference on Simulation and Modeling.
Ross, Andrew; Fossen, Thor Inge. (2005) Identification of Frequency-dependent Viscous Damping. OCEANS 2005 . IEEE/MTS; Washington DC. 2005-09-19 - 2005-09-23.
Shiriaev, Anton S.; Robertsson, A; Pacull, P.; Fossen, Thor Inge. (2005) Motion Planning and Its Feedback Stabilization for Underactuated Ships: Virtual Constraints Approach. 16th IFAC World Congress ; Prague. 2005-07-03 - 2005-07-08.
Skjetne, Roger; Smogeli, Øyvind Notland; Fossen, Thor Inge. (2005) Proceedings of the IFAC Conference on Control Applications in Marine Systems 2004 (CAMS 2004) (Katebi, Longhi). Oxford: Elsevier 2005. ISBN 0080441696. 520 s. (Vitenskapelig antologi. Proceedings of the IFAC Conference on Control Applications in Marine Systems 2004 (CAMS 2004).
Smogeli, Øyvind Notland; Perez, Tristan; Fossen, Thor Inge; Sørensen, Asgeir Johan. (2005) The Marine Systems Simulator State-Space Model Representation for Dynamically Positioned Surface Vessels. 12th International Congress of the Maritime Association of the Mediterranean (IMAM 2005) ; Lisboa. 2005-09-26 - 2005-09-30.
Smogeli, Øyvind Notland; Sørensen, Asgeir Johan; Fossen, Thor Inge. (2005) Design of a Hybrid Power/Torque Thruster Controller with Loss Estimation. Proceedings of the IFAC Conference on Control Applications in Marine Systems 2004 (CAMS 2004).
Alfaro-Cid, E; McGookin, Euan; Murray-Smith, David J.; Fossen, Thor Inge. (2005) Genetic algorithms optimisation of decoupled Sliding Mode controllers: simulated and real results. Control Engineering Practice. vol. 13.
Ihle, Ivar Andre Flakstad; Skjetne, Roger; Fossen, Thor Inge. (2005) Output Feedback Control for Maneuvering Systems Using Observer Backstepping. Proceedings (IEEE International Symposium on Intelligent Control: Print).
Johansen, Tor Arne; Fossen, Thor Inge; Tøndel, Johan Petter. (2005) Efficient optimal constrained control allocation via multiparametric programming. Journal of Guidance Control and Dynamics. vol. 28.
Skjetne, Roger; Fossen, Thor Inge; Kokotovic, PV. (2005) Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory. Automatica. vol. 41.

2004

Breivik, Morten; Fossen, Thor Inge. (2004) Path Following for Marine Surface Vessels. OTO'04 . IEEE/OES, MTS, CJO; Kobe. 2004-11-09 - 2004-11-12.
Breivik, Morten; Fossen, Thor Inge. (2004) Path Following of Straight Lines and Circles for Marine Surface Vessels. 6th IFAC CAMS . IFAC; Ancona. 2004-07-07 - 2004-07-09.
Ihle, Ivar Andre Flakstad; Skjetne, Roger; Fossen, Thor Inge. (2004) Nonlinear Formation Control of Marine Craft with Experimental Results. 43rd IEEE Conference on Decision and Control . IEEE; Paradise Island. 2004-12-14 - 2004-12-17.
Ross, Andrew; Fossen, Thor Inge; Johansen, Tor Arne. (2004) Identification of Underwater Vehicle Hydrodynamic Coefficients Using Free Decay Tests. CAMS '04 . IFAC; Ancona. 2004-07-07 - 2004-07-09.
Skjetne, Roger; Fossen, Thor Inge. (2004) On Integral Control in Backstepping: Analysis of Different Techniques. 2004 Americal Control Conference . American Automatic Control Council; Boston. 2004-06-30 - 2004-07-02.
Skjetne, Roger; Smogeli, Øyvind Notland; Fossen, Thor Inge. (2004) Modeling, Identification, and Adaptive Maneuvering of Cybership II: A Complete Design with Experiments. IFAC Conference on Control Applications in Marine Systems (CAMS 2004) . IFAC; Ancona. 2004-07-07 - 2004-07-09.
Smogeli, Øyvind Notland; Sørensen, Asgeir Johan; Fossen, Thor Inge. (2004) Design of a Hybrid Power/Torque Thruster Controller with Loss Estimation. IFAC Conference on Control Applications in Marine Systems (CAMS04) . IFAC; Ancona. 2004-07-07 - 2004-07-09.
Fossen, Thor Inge; Smogeli, Øyvind Notland. (2004) Nonlinear Time-Domain Strip Theory Formulation for Low-Speed Maneuvering and Station-Keeping. Modeling, Identification and Control. vol. 25 (4).
Johansen, Tor Arne; Fossen, Thor Inge; Berge, Stig. (2004) Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming. IEEE Transactions on Control Systems Technology. vol. 12.
Johansen, Tor Arne; Fossen, Thor Inge; Sagatun, Svein Ivar; Nielsen, Finn Gunnar. (2004) Wave synchronizing crane control during water entry in offshore moonpool operations - Experimental results (Reprinted with permission from J. Oceanic Engineering, vol 29, pg 720-728). Modeling, Identification and Control. vol. 25.
Skjetne, Roger; Fossen, Thor Inge. (2004) On Integral Control in Backstepping: Analysis of Different Techniques. American Control Conference (ACC). vol. 2.
Skjetne, Roger; Fossen, Thor Inge; Kokotovic, Petar V.. (2004) Robust output maneuvering for a class of nonlinear systems. Automatica. vol. 40.
Skjetne, Roger; Smogeli, Øyvind Notland; Fossen, Thor Inge. (2004) A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship. Modeling, Identification and Control. vol. 25.
Skjetne, Roger; Smogeli, Øyvind Notland; Fossen, Thor Inge. (2004) Modeling, Identification, and Adaptive Maneuvering of Cybership II: A Complete Design with Experiments. Elsevier IFAC Publications / IFAC Proceedings series.

2003

Fossen, Thor Inge; Breivik, Morten; Skjetne, Roger. (2003) Line-of-Sight Path Following of Underactuated Marine Craft. 6th IFAC MCMC . IFAC; Girona. 2003-09-17 - 2003-09-19.
Johansen, Tor Arne; Fossen, Thor Inge; Sagatun, Svein Ivar; Nielsen, Finn Gunnar. (2003) Wave synchronizing crane control during water entry in offshore moonpool operations - experimental results. IEEE Journal of Oceanic Engineering. vol. 29.
Johansen, Tor Arne; Fuglseth, Thomas Pagaard; Tøndel, Petter; Fossen, Thor Inge. (2003) Optimal constrained control allocation in marine surface vessels with rudders. IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; Girona, Spain. 2003-09-19.
Lindegaard, Karl-Petter; Fossen, Thor Inge. (2003) Fuel-efficient rudder and propeller control allocation for marine craft: Experiments with a model ship. IEEE Transactions on Control Systems Technology. vol. 11 (6).
Skjetne, Roger; Ihle, Ivar Andre Flakstad; Fossen, Thor Inge. (2003) Formation control by synchronizing multiple maneuvering systems. The 6th IFAC Conference on Manoeuvring and Control of Marine Crafts (MCMC2003) . [Mangler data]; Girona, Spania. 2003-09-19.
Johansen, Tor Arne; Fossen, Thor Inge; Sagatun, Svein Ivar; Nielsen, Finn Gunnar. (2003) Wave synchronizing crane control during water entry in offshore moonpool operations - Experimental results. IEEE Journal of Oceanic Engineering. vol. 28.
Lindegaard, KP; Fossen, Thor Inge. (2003) Fuel-efficient rudder and propeller control allocation for marine craft: Experiments with a model ship. IEEE Transactions on Control Systems Technology. vol. 11.

2002

Aamo, Ole Morten; Fossen, Thor Inge. (2002) Stabilization of fluid flows in channels and pipes. Tutorial on feedback control of flows, part I. Modeling, Identification and Control. vol. 23 (3).
Aamo, Ole Morten; Fossen, Thor Inge. (2002) Tutorial on feedback control of flows, Part II: Diagnostics and feedback control of mixing. Modeling, Identification and Control. vol. 23 (4).
Fossen, Thor Inge. (2002) Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. 2002. ISBN 82-92356-00-2.
Fossen, Thor Inge; Lindegaard, Karl-Petter; Skjetne, Roger. (2002) Inertia Shaping Techniques for Marine Vessels using Acceleration Feedback. IFAC World Congress . [Mangler data]; Barcelona, Spania. 2002-07-21.
Fossen, Thor Inge; Vik, Bjørnar. (2002) Tightly Integrated GPS/INS Systems for Dynamic Positioning (DP), Phase II. GPS/IMU Position Drift with Less Than Three Satellites. 2002.
Fossen, Thor Inge; Vik, Bjørnar; Lunheim, Trygve; Skavhaug, Amund. (2002) A Decade Of Rapid Software Development For Control-system Experiments. Lessons Learned. IFAC 15th World Congress, Barcelona 2002 . [Mangler data]; Barcelona, Spain. 2002-07-26.
Lindegaard, Karl-Petter; Vik, Bjørnar; Fossen, Thor Inge. (2002) Experimental Results with a Simplified Model Based Wave Filter with Inertial Sensor Feedback for Surface Vessels. The 10th Mediterranean Conference on Control & Automation . [Mangler data]; Lisbon, Portugal. 2002-07-12.
Sagatun, Svein Ivar; Johansen, Tor Arne; Fossen, Thor Inge; Nielsen, Finn Gunnar. (2002) Wave synchronizing crane control during water entry in offshore moonpool operations. IEEE International Conference on Control Applications . [Mangler data]; Glasgow, Scotland. 2002-09-20.
Skjetne, Roger; Moi, Sonja; Fossen, Thor Inge. (2002) Nonlinear Formation Control of Marine Craft. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
Skjetne, Roger; Fossen, Thor Inge; Kokotovic, Petar V.. (2002) Output Maneuvering for a Class of Nonlinear Systems. Elsevier IFAC Publications / IFAC Proceedings series. vol. 15 (1).

2001

Aamo, Ole Morten; Arcak, Murat; Fossen, Thor Inge; Kokotovic, Petar V.. (2001) Global Output Tracking Control of a Class of Euler-Lagrange Systems With Monotonic Nonlinearities in the Velocities. International Journal of Control. vol. 74 (7).
Aamo, Ole Morten; Fossen, Thor Inge. (2001) Finite Element Modelling of Moored Vessels. Mathematical and Computer Modelling of Dynamical Systems. vol. 7 (1).
Fossen, Thor Inge; Loria, Antonio; Teel, Andrew. (2001) A Theorem for UGAS and ULES of (Passive) Nonautonomous Systems: Robust Control of Mechanical Systems and Ships. International Journal of Robust and Nonlinear Control. vol. 11.
Fossen, Thor Inge; Strand, Jann Peter. (2001) Nonlinear Passive Weather Optimal Positioning Control (WOPC) System for Ships and Rigs: Experimental Results. Automatica. vol. 37 (5).
Lindegaard, Karl-Petter; Fossen, Thor Inge. (2001) A Model Based Wave Filter for Surface Vessels Using Position, Velocity and Partial Acceleration Feedback. The 40th IEEE Conference on Decision and Control . [Mangler data]; Orlando, Florida. 2001-12-07.
Lindegaard, Karl-Petter; Fossen, Thor Inge. (2001) On Global Model Based Observer Designs for Surface Vessels. The 5th IFAC Conference on Control Applications in Marine Systems, CAMS2001 . [Mangler data]; Glasgow, UK. 2001-07-20.
Reggestad, Vemund; Vik, Bjørnar; Fossen, Thor Inge. (2001) Tightly Integrated GPS/INS Systems for Dynamic Positioning (DP), Phase I. GPS/IMU Attitude Integration. 2001.
Sagatun, Svein Ivar; Fossen, Thor Inge; Lindegaard, Karl-Petter. (2001) Inertance Control of Underwater Installations. The 5th IFAC Conference on Control Applications in Marine Systems (CAMS 2001) . [Mangler data]; Glasgow, UK. 2001-07-20.
Vik, Bjørnar; Fossen, Thor Inge. (2001) Nonlinear Observer Design for Integration of GPS and Inertial Navigation Systems. 40th IEEE Conference on Decision and Control . [Mangler data]; Orlando, Florida, USA. 2001-12-07.
Vik, Bjørnar; Fossen, Thor Inge. (2001) Tightly Integrated GPS/INS Systems for Dynamic Positioning (DP), Phase 1. Tightly Integrated GPS/IMU Real Time Algorithm. 2001.
Skjetne, Roger; Fossen, Thor Inge. (2001) Nonlinear Maneuvering and Control of Ships. OCEANS. vol. 3.

2000

Aamo, Ole Morten; Arcak, Murat; Fossen, Thor Inge; Kokotovic, Petar V.. (2000) Global output tracking control of a class of Euler-Lagrange systems. 39th IEEE Conference on Decision and Control . [Mangler data]; Sydney, Australia, December 12-15, 2000.
Aamo, Ole Morten; Fossen, Thor Inge. (2000) Finite element modelling of mooring lines. Mathematics and Computers in Simulation. vol. 53.
Aamo, Ole Morten; Fossen, Thor Inge. (2000) Finite element modelling of mooring lines. 3rd IMACS Symposium on Mathematical Modelling . [Mangler data]; Wien, 2-4 februar, 2000.
Blanke, Mogens; Lindegaard, Karl-Petter; Fossen, Thor Inge. (2000) Dynamic Model for Thrust Generation of Marine Propellers. 5th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; 23-25 August 2000, Aalborg, Denmark.
Egeland, Olav; Sagatun, Svein Ivar; Fossen, Thor Inge; Birkeland, Oddvar M.. (2000) Mathematical Models for the Analysis of Offshore Crane Operations. 2000.
Fossen, Thor Inge. (2000) A Survey on Nonlinear Ship Control: From Theory to Practice. 5th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; 23-25 August, 2000, Aalborg, Denmark.
Fossen, Thor Inge. (2000) Developments in Ship Control Systems Design. World Superyacht Review.
Fossen, Thor Inge. (2000) Nonlinear Passive Control and Observer Design for Ships. Modeling, Identification and Control.
Fossen, Thor Inge. (2000) Preface : Special Section on Marine Systems. International Journal of Adaptive Control and Signal Processing. vol. 14 (4).
Fossen, Thor Inge; Blanke, Mogens. (2000) Nonlinear Output Feedback Control of Underwater Vehicle Propellers using Feedback from Estimated Axial Flow Velocity. IEEE Journal of Oceanic Engineering. vol. 25 (2).
Fossen, Thor Inge; Strand, Jann Peter. (2000) Position and Velocity Observer Design. The Ocean Engineering Handbook.
Fossen, Thor Inge; Strand, Jann Peter. (2000) Weather Optimal Positioning Control. The Ocean Engineering Handbook.
Kvam, Kristoffer; Ohtsu, Kohei; Fossen, Thor Inge. (2000) Optimal Ship Maneuvering using Bryson and Ho's Time-Varying LQ Controller. 5th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; 23-25 August, 2000, Aalborg, Denmark.
Loria, Antonio; Fossen, Thor Inge; Panteley, Elena. (2000) A Separation Principle for Dynamic Positioning of Ships: Theoretical and Experimental Results. IEEE Transactions on Control Systems Technology. vol. 8 (2).
McGookin, Euan; Murray-Smith, David J.; Lin, Y.; Fossen, Thor Inge. (2000) Experimental Results from Supply Ship Autopilot Optimisation using Genetic Algorithms. Transactions of the Institute of Measurement and Control. vol. 22 (2).
McGookin, Euan; Murray-Smith, David J.; Lin, Y.; Fossen, Thor Inge. (2000) Ship Steering Control System Optimisation Using Genetic Algorithms. Control Engineering Practice. vol. 8.
Nie, J.; Yuh, J.; Kardash, Erik; Fossen, Thor Inge. (2000) Onboard Sensor-Based Adaptive Control of Small UUVs in Very Shallow Water. International Journal of Adaptive Control and Signal Processing. vol. 14 (4).
Pettersen, Kristin Ytterstad; Fossen, Thor Inge. (2000) Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technology. vol. 8 (5).
Sørensen, Asgeir Johan; Fossen, Thor Inge; Strand, Jann-Peter. (2000) Design of Controllers for Positioning of Marine Vessels. The Ocean Engineering Handbook.
Sørensen, Asgeir Johan; Fossen, Thor Inge; Strand, Jann-Peter. (2000) Design of Controllers for Positioning of Marine Vessels. The Ocean Engineering Handbook.
Vik, Bjørnar; Fossen, Thor Inge. (2000) A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems. Modeling, Identification and Control.

1999

Aamo, Ole Morten; Fossen, Thor Inge. (1999) Controlling line tension in thruster assisted mooring systems. 1999 IEEE International Conference on Control Applications (CCA) . [Mangler data]; Hapuna-Beach Prince Hotel, HI, USA August 22-27, 1999.
Berge, Svein P.; Ohtsu, Kohei; Fossen, Thor Inge. (1999) Nonlinear control of ships minimizing the position tracking errors. Modeling, Identification and Control. vol. 20 (3).
Fossen, Thor Inge; Strand, Jann-Peter. (1999) A tutorial on nonlinear backstepping: applications to ship control. Modeling, Identification and Control. vol. 20 (2).
Fossen, Thor Inge; Strand, Jann-Peter. (1999) Passive nonlinear observer design for ships using Lyapunov methods: experimental results with a supply vessel. Automatica. vol. 35 (1).
Hansen, Jan Fredrik; Fossen, Thor Inge. (1999) Nonlinear control of marine power generation. Power Systems Computation Conference . [Mangler data]; Trondheim, 28. juni - 2. juli.
He, Xiufeng; Fossen, Thor Inge; Chen, Y.. (1999) Development of a Low Cost DGPS/DR System for Vehicle racking. International Workshop on Mobile Mapping Technology . [Mangler data]; Thailand, April 21-23.
Loria, Antonio; Fossen, Thor Inge; Teel, Andrew. (1999) UGAS and ULES of non-autonomous systems: applications to integral control of ships and manipulators. European Control Conference . [Mangler data]; Karlsruhe, 31.8.-03.09.
Nijmeijer, Henk; Fossen, Thor I.. (1999) New Directions in Nonlinear Observer Design. 1999.
Sørensen, Asgeir Johan; Strand, Jann-Peter; Fossen, Thor Inge. (1999) Thruster assisted position mooring of turret-anchored FPSOs. International Conference on Control Applications . [Mangler data]; Hawaii, USA, August 22-27, 1999.
Vik, Bjørnar; Fossen, Thor Inge. (1999) A nonlinear observer for integration of GPS and INS attitude. ION GPS-99 . [Mangler data]; Nashville, TN, USA, September 14-17, 1999.
Vik, Bjørnar; Fossen, Thor Inge. (1999) Nonlinear analysis of GPS aided by INS. ION 55th Annual Meeting: Navigational Technology for the 21st Century . [Mangler data]; Cambridge, MA, USA, June 28-30, 1999.
Vik, Bjørnar; Shiriaev, Anton S.; Fossen, Thor Inge. (1999) Nonlinear observer design for integration of DGPS and INS. New directions in nonlinear observer design.

1998

Aarset, Marius; Strand, Jann-Peter; Fossen, Thor Inge. (1998) Nonlinear Vectorial Observer Backstepping With Integral Action and Wave Filtering for Ships. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; [Mangler data].
Berge, Svein P.; Fossen, Thor Inge. (1998) Nonlinear way-point tracking control and docking of ships final report ; NFR-Project no. 112681/230. 1998. ITK-rapport: 98-23-W.
Berge, Svein Peder; Ohtsu, Kohei; Fossen, Thor Inge. (1998) Nonlinear Control of Ships Minimizing the Position Tracking Errors. IFAC Conference on Control Application in Marine Systems (CAMS '98) . [Mangler data]; [Mangler data].
Fossen, Thor Inge. (1998) Matematiske modeller for styring av fly og satelitter. Kompendium. 1998. ITK-rapport: 98-4-W.
Fossen, Thor Inge; Godhavn, John-Morten; Berge, Svein P.; Lindegaard, Karl Petter. (1998) Nonlinear control of underactuated ships with forward speed compensation. IFAC Nonlinear Control Systems Design Symposium (NOLCOS'99) . [Mangler data]; Enschede, The Netherlands.
Fossen, Thor Inge; Grøvlen, Åslaug. (1998) Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping. IEEE Transactions on Control Systems Technology. vol. 6 (1).
Fossen, Thor Inge; Strand, Jann-Peter. (1998) Nonlinear Ship Control. Tutorial Session, 14.30 - 17.00, Tuesday 27 October 1998 IFAC Conference on Control Applications in Marine Systems (CAMS'9 Fukuoka, Japan, 27-30 October 1998. 1998. ITK-rapport: 98-19-W (IFAC Conference on Control Applications in Marine Systems).
Godhavn, John-Morten; Fossen, Thor Inge; Berge, Svein Peder. (1998) Nonlinear and adaptive backstepping designs for tracking control of ships. International Journal of Adaptive Control and Signal Processing.
Hansen, Jan Fredrik; Ådnanes, Alf Kåre; Fossen, Thor Inge. (1998) Modelling, simulation and multivariable model-based predictive control of marine power generation system. IFAC Conferense on Control Applications in Marine Systems . [Mangler data]; [Mangler data].
Lauvdal, Trygve; Fossen, Thor Inge. (1998) Robust Adaptive Ship Autopilot with Wave Filter and Integral Action. International Journal of Adaptive Control and Signal Processing.
Lauvdal, Trygve; Fossen, Thor Inge. (1998) Rudder Roll Stabilization of Ships Subject to Input Rate Saturations Using a Gain Scheduled Control Law. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; Fukuoka, Japan.
Loria, Antonio; Panteley, Elena; Nijmeijer, Henk; Fossen, Thor Inge. (1998) Robust adaptive control of passive systems with unknown disturbances. IFAC Nonlinear Control Systems Design symposium . [Mangler data]; Enschede, The Netherlands.
Nie, Jing; Yuh, Junku; Kardash, Erik; Fossen, Thor Inge. (1998) On-board sensor-based adaptive control of small UUVs in very shallow water. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; Fukuoka, Japan.
Paulsen, Marit; Egeland, Olav; Fossen, Thor Inge. (1998) A passive output feedback controller with wave filter for marine vehicles. International Journal of Robust and Nonlinear Control.
Pettersen, Kristin Ytterstad; Fossen, Thor Inge. (1998) Underactuated Ship Stabilization using Integral Control: Experimental Results with CyberShip I. 1998 IFAC Symposium on Nonlinear Control Systems Design . [Mangler data]; [Mangler data].
Strand, Jann-Peter; Ezal, Kenan; Fossen, Thor Inge; Kokotovic, Petar V.. (1998) Nonlinear Control of Ships: A Locally Optimal Design. 4th IFAC Symposium on Nonlinear Control Systems Design (NOLCOS'98) . [Mangler data]; [Mangler data].
Strand, Jann-Peter; Fossen, Thor Inge. (1998) Nonlinear Output Feedback and Locally Optimal Control of Dynamically Positioned Ships: Experimental Results. IFAC Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; [Mangler data].
Strand, Jann-Peter; Sørensen, Asgeir Johan; Fossen, Thor Inge. (1998) Design of Automatic Thruster Assisted Position Mooring Systems for Ships. Modeling, Identification and Control. vol. 1.
Vik, Bjørnar; Fossen, Thor Inge. (1998) Direct Nonlinear Observer Design for Integration of DGPS and Strapdown Motion Sensors. Conference on Control Applications in Marine Systems (CAMS'98) . [Mangler data]; Fukuoka, Japan.

1997

Berge, Svein P.; Fossen, Thor Inge. (1997) Robust control allocation of overactuated ships : experiments with a model ship. 4th IFAC Conference on Manoeuvring and Control of Marine Craft . [Mangler data]; Brijuni.
Fossen, Thor Inge; Berge, Svein P.. (1997) Nonlinear vectorial backstepping design for global exponential tracking of marine vessels in the presence of actuator dynamics. IEEE Conference on Decision and Control . [Mangler data]; San Diego, CA.
Lauvdal, Trygve; Fossen, Thor Inge. (1997) Nonlinear rudder-roll damping of non-minimum phase ships using sliding mode control. European Control Conference . [Mangler data]; Brussel.
Lauvdal, Trygve; Fossen, Thor Inge. (1997) Semi-global results on stabilization of linear systems with input rate and magnitude saturations. AIAA Conference on Guidance, Navigation and Control . [Mangler data]; New Orleans.
Lauvdal, Trygve; Fossen, Thor Inge. (1997) Stabilization of linear unstable systems with control constraints. IEEE Conference on Decision and Control . [Mangler data]; San Diego, CA.
Lauvdal, Trygve; Murray, Richard M.; Fossen, Thor Inge. (1997) Stabilization of integrator chains in the presence of magnitude and rate saturations : a gain scheduling approach. IEEE Conference on Decision and Control . [Mangler data]; San Diego, CA.
McGookin, Euan W.; Murray-Smith, David J.; Li, Yun; Fossen, Thor Inge. (1997) Parameter optimisation of a non-linear tanker control system using genetic algorithms. 2nd IEE/IEEE International Conference on Genetic Algorithms . [Mangler data]; Glasgow.

1996

Fossen, Thor Inge. (1996) Preface to the special section on control applications in marine systems. Control Engineering Practice. vol. 4 (3).
Fossen, Thor Inge; Sagatun, Svein Ivar; Sørensen, A.J.. (1996) Identification of dynamically positioned ships. Control Engineering Practice. vol. 4 (3).
Grøvlen, Åslaug; Fossen, Thor Inge. (1996) Nonlinear control of dynamic positioned ships using only position feedback : an observer bckstepping approach. 35th IEEE Conference on Decision and Control . [Mangler data]; [Mangler data].
Lauvdal, Trygve; Fossen, Thor Inge. (1996) Nonlinear non-minimum phase rudder-roll damping system for ships using sliding mode control. 13th IFAC World Congress . [Mangler data]; [Mangler data].
Sørensen, A.J.; Sagatun, Svein Ivar; Fossen, Thor Inge. (1996) Design of a dynamic positioning system using model-based control. Control Engineering Practice. vol. 4 (3).

1995

Fossen, Thor I.; Sagatun, Svein Ivar; Sørensen, Asgeir Johan. (1995) Identification of dynamically positioned ships. 3rd IFAC Workshop on Control Applications in Marine Systems . [Mangler data]; [Mangler data].
Sørensen, Asgeir Johan; Sagatun, Svein Ivar; Fossen, Thor I.. (1995) Design of a dynamic positioning system using model-based control. 3rd IFAC Workshop on Control Applications in Marine Systems . [Mangler data]; [Mangler data].

1994

Fossen, Thor Inge. (1994) Banestyring og værruting av skip. Seminar på informasjonsteknologi i maritim virksomhet . [Mangler data]; [Mangler data].
Fossen, Thor Inge. (1994) Guidance and control of ocean vehicles. 1994. ISBN 0-471-94113-1.
Lauvdal, Trygve; Fossen, Thor I.. (1994) Matlab simulation program for marine and flight vehicles. 1994. Technical report (94-43-W).
Schjølberg, Ingrid; Fossen, Thor I.. (1994) Modelling and Control of Underwater Vehicle-Manipulator Systems. IFAC 3rd Int. Conf. on Marine Craft Maneuvering and Control (MCMC94) . IFAC; Southampton. 1994-09-07 - 1994-09-09.

1993

Fossen, Thor Inge. (1993) High performance ship autopilot with wave filter. Ship Control System Symposium (10 : 1993 : Ottawa) . Canadian Department of National Defence; [Mangler data].