Background and activities

I am co-director of the NTNU Centre for Autonomous Marine Operations and Systems (NTNU AMOS) and Professor of Guidance, Navigation and Control at the Department of Engineering Cybernetics, NTNU.

My research fields include mathematical modeling and simulation of aircraft, marine craft, unmanned vehicles, guidance, navigation and control systems. This includes sensor fusion and observers for navigation systems (inertial and camera-based systems). I have authored 6 international textbooks and I am one of the founders of the company Marine Cybernetics AS (2002), which was aquired by DNV GL. I am also one of the founders of the company SCOUT Drone Inspection (2017) and I am involved in several high-tech companies in Trondheim as well as NTNU spin-offs. 

Teaching:

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. Jann Peter 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 Torleiv H. Bryne and Tor Arne 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
  • 2014-present. Member of the steering committee of the International Conference on Unmanned Aerial Systems (ICUAS)
  • 2018 Associate Editor of the IFAC Journal "Control Engineering Practice" (CEP)
  • 2018 Industry Chair, IEEE Conference of Control Technology and Applications (CCTA'18)
  • 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

Journal publications

Books

  • 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.; Nijmeijer, Henk. (2012) Parametric Resonance in Dynamical Systems. Springer. 2012. ISBN 978-1-4614-1042-3.
  • Fossen, Thor I.. (2011) Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley-Blackwell. 2011. ISBN 978-1-1199-9149-6.
  • Fossen, Thor Inge. (2002) Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. 2002. ISBN 82-92356-00-2.
  • Nijmeijer, Henk; Fossen, Thor I.. (1999) New Directions in Nonlinear Observer Design. 1999.
  • Fossen, Thor Inge. (1994) Guidance and control of ocean vehicles. 1994. ISBN 0-471-94113-1.

Part of book/report

  • Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2017) Modeling of Underwater Vehicles. Encyclopedia of Robotics.
  • Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne. (2017) Nonlinear Camera-Based INS for Fixed-Wing UAV using the eXogenous Kalman Filter. 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 an UAV with Thermal Camera. Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles.
  • Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2017) Guidance of Autnomous Underwater Vehicles. Encyclopedia of Robotics.
  • Antonelli, Gianluca; Fossen, Thor I.; Yoerger, D.. (2016) Modeling and Control of Underwater Robotics. Springer Handbook of Robotics.
  • Fossen, Thor I.; Perez, Tristan. (2016) Model-based Ship Motion Control Design. Compendium of Ships Hydrodynamics. Practical Tools and Application.
  • 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; 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.
  • Perez, Tristan; Fossen, Thor I.. (2016) Hydrodynamic Models for Motion Control. Compendium of Ships Hydrodynamics. Practical Tools and Application.
  • Fossen, Thor I.. (2015) Mathematical Models of Ships and Underwater Vehicles. Encyclopedia of Systems and Control.
  • 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.
  • Fossen, Thor I.. (2012) Nonlinear Maneuvering Theory and Path-Following Control. Marine Technology and Engineering : CENTEC Anniversary Book.
  • 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 U-Tank Control System for Ships in Parametric Roll Resonance. Parametric Resonance in Dynamical Systems.
  • Perez, Tristan; Fossen, Thor I.. (2010) Motion Control of Marine Craft. The Control Handbook, Second Edition: Control System Applications, Second Edition.
  • 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.
  • 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.
  • Fossen, Thor Inge; Ross, Andrew. (2006) Nonlinear Modelling, Identification, and Control of UUVs. Guidance and Control of Unmanned Marine Vehicles.
  • 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.
  • 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.
  • 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; Shiriaev, Anton S.; Fossen, Thor Inge. (1999) Nonlinear observer design for integration of DGPS and INS. New directions in nonlinear observer design.