2025

• Tengesdal, Trym; Pedersen, Tom Arne; Johansen, Tor Arne. (2025) A Comparative Study of Rapidly-exploring Random Tree Algorithms Applied to Ship Trajectory Planning and Behavior Generation. Journal of Intelligent & Robotic Systems
  Academic article
• Berg, Henrik Stokland; Menges, Daniel; Tengesdal, Trym; Rasheed, Adil. (2025) Digital twin syncing for autonomous surface vessels using reinforcement learning and nonlinear model predictive control. Scientific Reports
  Academic article

2024

• Halleland, Vilde; Johansen, Tor Arne; Tengesdal, Trym. (2024) Implementation and Validation of an MPC-based Mid-Level Collision Avoidance Planning Algorithm. NTNU
  Masters thesis
• Vedeler, Edvard Indrebø; Johansen, Tor Arne; Tengesdal, Trym. (2024) Uncertainty-aware DRL-based Ship Collision Avoidance and Trajectory Tracking. NTNU
  Masters thesis
• Myhren, Linn Jeanette; Johansen, Tor Arne; Tengesdal, Trym. (2024) Dynamic Positioning system for ships operating within offshore wind farms. NTNU
  Masters thesis
• Kristensen, Andreas; Johansen, Tor Arne; Tengesdal, Trym. (2024) Path planning for ships operating within wind farms. NTNU
  Masters thesis
• Myklebust, Jørgen; Johansen, Tor Arne; Tengesdal, Trym. (2024) Simulation-Based Verification of an Intention-Aware Probabilistic Scenario-Based MPC with Realistic Target Tracking. NTNU
  Masters thesis
• Jaatun, Amalie Rikardsen; Johansen, Tor Arne; Tengesdal, Trym. (2024) Deep Reinforcement Learning for Anti-grounding and Trajectory Tracking in the Presence of Environmental Disturbances. NTNU
  Masters thesis
• Dyrskog, Jørgen; Johansen, Tor Arne; Tengesdal, Trym. (2024) Implementation and Validation of a Deep Reinforcement Learning Algorithm for Maritime Collision Avoidance and Anti-Grounding. NTNU
  Masters thesis
• Tengesdal, Trym; Gros, Sebastien Nicolas; Johansen, Tor Arne. (2024) Real-time Feasible Usage of Radial Basis Functions for Representing Unstructured Environments in Optimal Ship Control. American Control Conference (ACC)
  Academic article
• Menges, Daniel; Tengesdal, Trym; Rasheed, Adil. (2024) Nonlinear Model Predictive Control for Enhanced Navigation of Autonomous Surface Vessels. IFAC-PapersOnLine
  Academic article
• Tengesdal, Trym; Rothmund, Sverre Velten; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Johansen, Tor Arne. (2024) Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-Scale Experiments in Confined Waters. Field Robotics
  Academic article

2023

• Vaaler, Aksel; Robinson, Haakon Rennesvik; Tengesdal, Trym; Rasheed, Adil. (2023) Modular Collision Avoidance Using Predictive Safety Filters. The American Society of Mechanical Engineers (ASME)
  Academic chapter/article/Conference paper
• Tengesdal, Trym; Johansen, Tor Arne. (2023) Simulation Framework and Software Environment for Evaluating Automatic Ship Collision Avoidance Algorithms. IEEE conference proceedings
  Academic chapter/article/Conference paper

2022

• Rothmund, Sverre Velten; Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2022) Intention modeling and inference for autonomous collision avoidance at sea. Ocean Engineering
  Academic article
• Tengesdal, Trym; Johansen, Tor Arne; Grande, Tom Daniel; Blindheim, Simon André Johnsen. (2022) Ship Collision Avoidance and Anti Grounding Using Parallelized Cost Evaluation in Probabilistic Scenario-Based Model Predictive Control. IEEE Access
  Academic article
• Tengesdal, Trym; Millefiori, Leonardo M.; Braca, Paolo; Brekke, Edmund Førland. (2022) Joint Stochastic Prediction of Vessel Kinematics and Destination based on a Maritime Traffic Graph. IEEE (Institute of Electrical and Electronics Engineers)
  Academic chapter/article/Conference paper

2021

• Tengesdal, Trym; Johansen, Tor Arne; Brekke, Edmund Førland. (2021) Ship Collision Avoidance Utilizing the Cross-Entropy Method for Collision Risk Assessment. IEEE Transactions on Intelligent Transportation Systems (T-ITS)
  Academic article
• Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne. (2021) On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC. IFAC-PapersOnLine
  Academic article

2020

• Tengesdal, Trym; Johansen, Tor Arne; Brekke, Edmund Førland. (2020) Risk-based Autonomous Maritime Collision Avoidance Considering Obstacle Intentions. IEEE (Institute of Electrical and Electronics Engineers)
  Academic chapter/article/Conference paper