Background and activities

PhD project: Reactive collision avoidance and guidance for underactuated marine vehicles

Main Supervisor: Prof. Kristin Y. Pettersen

Co-supervisors: Dr. Thomas R Krogstad (FFI) and Prof. Asgeir Sørensen (NTNU)

Researh topics in PhD:

  • Integral line of sight guidance for underactuated marine vehicles 
    • Stablity analysis in 3 and 5 degrees of freedom
    • Analysis of stability properties when the vehicle is not neutrally buoyant
  • Reactive collision avoidance
    • Collision avoidance as a guidance law
    • Focus on marine vehicles
    • Mathematical analysis -  under wich circumstances can we guarantee safety and liveness?

Other research interests

  • Autonomous, unmanned vehicles
  • Autonomous decision making
  • Dynamic route planning algorithms
  • Software development for unmanned systems
  • Nonlinear control systems

Scientific, academic and artistic work

A selection of recent journal publications, artistic productions, books, including book and report excerpts. See all publications in the database

Journal publications

Part of book/report


  • Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2019) Collision Avoidance and Path Following for Underactuated Marine Vehicles. 2019. ISBN 978-82-326-3804-8. Doktoravhandlinger ved NTNU (2019:103).
  • Eriksen, Bjørn-Olav Holtung; Pettersen, Kristin Ytterstad; Syre Wiig, Martin; Krogstad, Thomas Røbekk. (2015) Horizontal Collision Avoidance for Autonomous Underwater Vehicles. 2015.