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

  • Geilhufe, Marc; Krogstad, Thomas Røbekk; Midtgaard, Øivind; Syre Wiig, Martin; Ruud, Else-Line Malene. (2018) In-mission MCM performance evaluation for AUV-mounted sonar. Proceedings of 4th International Conference on Synthetic Aperture Sonar and Radar.
  • Sture, Øystein; Fossum, Trygve Olav; Ludvigsen, Martin; Syre Wiig, Martin. (2018) Autonomous Optical Survey Based on Unsupervised Segmentation of Acoustic Backscatter. Proceedings of MTS/IEEE Oceans'18, Techno-Ocean 2018 - OTO'18.
  • Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. 2nd IEEE Conference on Control Technology and Applications.
  • Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. 57th IEEE Conference on Decision and Control.
  • Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2018) An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance. 2018 European Control Conference (ECC).
  • Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. (2016) A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs. Proceedings of 2016 IEEE Conference on Control Applications (CCA).
  • Syre Wiig, Martin; Løvlid, Rikke Amilde; Mathiassen, Kim; Krogstad, Thomas Røbekk. (2016) Decision Autonomy for Unmanned Vehicles. STO-MP-IST-127: Intelligence and Autonomy In Robotics.
  • Lorentzen, Ole Jacob; Synnes, Stig Asle Vaksvik; Syre Wiig, Martin; Glette, Kyrre Harald. (2013) Environmentally Adaptive Sonar. Proceedings of 1st International Conference and Exhibition on Underwater Acoustics.


  • Eriksen, Bjørn-Olav Holtung; Pettersen, Kristin Ytterstad; Syre Wiig, Martin; Krogstad, Thomas Røbekk. (2015) Horizontal Collision Avoidance for Autonomous Underwater Vehicles. 2015.