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AutoRemote

Work Package 1

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Autonomous ferry in Trondheim. Two students on a ferry. AutoRemote. Photo

Our objective is to develop perception and decision-making systems that will enable MASS to accomplish their mission, including fall-backs for extraordinary events.

This WP will solve open problems in the development of technology for solutions to the use cases, and will provide benchmarking solutions and data sets. The work in WP1 can be divided into two main tasks, covering the perception side and the actuation/decision-making side of MASS technology.  The main research tasks are:

  • Task 1.1, which covers SITAW and sensor fusion and will provide the autonomous decision-making processes with information that is largely absent in current systems. A long-term research focus is maritime SLAM and extended object tracking which currently are at low TRL. 
  • Task 1.2, which provides integration of SITAW information in automatic control systems. A long-term research focus is autonomous decision making, developed in an optimal control and AI framework and supported by low-level control algorithms with the reliability and resilience required in MASS technology.

Projects

Projects

PhD/PD projects

PhD projects

  • Situational awareness for autonomous ships, Johannes Robert Skarø
  • Mission planning systems for autonomous ships, Mikkel Bergstrand
  • Non-GNSS localization for USVs (aka SLAM), Henrik Dobbe Flemmen
  • Multi-sensor object detection and classification, Emil Martens
  • Autonomous Docking for Marine Surface Vessels, Simon Lexau
  • Explainability-centred design of an AI-based Collision Avoidance System for Autonomous Vessels, Joel Jose
  • Digital Twin for Situational Awareness and Optimal Control of Autonomous Surface Vessels, Daniel Menges (completed)

 

Postdoc research

  • Localization and tracking, Martin Baerveldt
  • Risk-based COLAV/anti-grounding, Trym Tengesdal (completed)

 

Recent publications

Recent publications

Journal articles:

Martin Baerveldt, Michael Ernesto Lopez and Edmund Brekke (2024). "A Multiple Extended Object Tracker with the Gaussian Process Model Utilizing Negative Information", Journal of Advances in Information Fusion. 

Andreas von Brandis, Daniel Menges and Adil Rasheed (2024). "Multi-Target Tracking for Autonomous Surface Vessels Using LiDAR and AIS Data Integration", Applied Ocean Research. 

Audun Gullikstad Hem, Martin Baerveldt and Edmund Brekke (2024). "PMBM Filtering with Fusion of Target-Provided and Exteroceptive Measurements: Applications to Maritime Point and Extended Object Tracking", IEEE Access. 

Audun Gullikstad Hem and Edmund Brekke (2024). "Validation of Automatic Identification System Information with Exteroceptive Sensor Fusion for Unmanned Marine Operations", IEEE Intelligent Transportation Systems Magazine. 

Audun Gullikstad Hem, Edmund Brekke, Giorgio Kufoalor and Ivan Håbjørg Kingman (2004). "Autonomous Marine Collision Avoidance with Sensor Fusion of AIS and Radar", IFAC-PapersOnLine.

Miguel Hinostroza and Anastasios M. Lekkas (2024). "Temporal mission planning for autonomous ships: Design and integration with guidance, navigation and control", Ocean Engineering.

Simon Lexau, Anastasios Lekkas and Morten Breivik (2024). "Nonlinear PID Conrol for Automatic Docking of a Large Container Ship in Confined Waters under the Indluence of Wind and Currents", IFAC-PapersOnLine. 

Daniel Menges, Adil Rasheed, Harald Martens and Torbjørn Pedersen (2024). "Real-time Predictive Condition Monitoring using Multivariate Data", IEEE Transactions on Image Processing. 

Daniel Menges, Trym Tengesdal and Adil Rasheed (2024). "Nonlinear Model Predictive Control for Enhanced Navigation of Autonomous Surface Vessels", IFAC-PapersOnLine.

Trym A. Nygård, Nicholas Dalhaug, Rudolf Mester, Edmund Brekke and Annette Stahl (2024). "Stereo Camera-based Free Space Estimation for Docking in Urban Waters", MIC Journal: Modeling, Identification and Control.

Trym Tengesdal, Sebastien Gros and Tor Arne Johansen (2024). "Real-time Feasible Usage og Radial Basis Functions for Representing Unstructured Environments in Optimal Ship Control", American Control Conference (ACC). 

Trym Tengesdal, Sverre V. Rothmund, Erlend Basso, Henrik Schmidt-Didlaukies and Tor Arne Johansen (2024). "Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-scale Experiments in Cnfined Waters", Field Robotics. 

Aksel Vaaler, Svein Jostein Husa, Daniel Menges, Thomas Nakken Larsen and Adil Rasheed (2024). "Modular control architecture for safe marine navigation: Reinforcement learning with predictive safety filters", Artificial Intelligence.   

 

Conference papers/ Seminars:

Melih Akdağ (2024). "Collaborative Collision Avoidance for Autonomous Ship Navigation", SFI AutoShip Days 2024. 

Melih Akdağ and Tor Arne Johansen (2024). "Prioritizing and Ranking Ships in Multiencounter Scenarios for Autonomous Navigation", Joint 13th International Conference on Soft Computing and Intelligent Systems and 25th International Symposium on Advanced Intelligent Systems (SCIS & ISIS). 

Edmund Brekke (2024). "Autonome skip: Interaksjon og situasjonsforståelse", Maritim Uke. 

Edmund Brekke, Lukas Herrmann and Henrik Dobbe Flemmen (2024). "Radar in maritime situational awareness - beyond point measurement", SFI AutoShip webinar. 

Nicholas Dalhaug, Annette Stahl, Rudolf Mester and Edmund Brekke (2024). "Combining Short and Wide Baseline Stereo Cameras for Improved Maritime Target Tracking", 27th International Conference on Information Fusion (FUSION). 

Martin Falang, Miguel Hinostroza, Peter Bull Hove, Thomas Sundvoll, and Anastasions M. Lekkas (2024). "Automatic drone landing on a boat: Theory and preliminary experimental results", ASME 2024; 43rd Interntional Conference on Ocean, Offshore and Arctic Engineering. 

Camilla Fruzzetti, Michele Martelli, Anastasios M. Lekkas, Roger Skjetne and Morten Breivik (2024). "Model-Based Motion control Desing for the Milliampere 1 Prototype Ferry", European Control Conference (ECC). 

Jon T. Grini, Rudolf Mester, Trym A. Nygård, Nicholas Dalhaug, Edmund Brekke and Annette Stahl (2024). "FusedWSS: Water Surface Segmentation Fusing Machine Learning and Geometric Cues", 27th International Conference on Information Fusion (FUSION). 

Petter Hangerhagen, Edmund Brekke, Egil Eide and Roger Skjetne (2024). "A Radar Dataset from the Trondheim City Canal", 27th International Conference on Information Fusion - FUSION. 

Lukas Herrmann, Edmund Brekke and Egil Eide (2024). "Coherent Integration of Optical Flow for Track-Before-Detect Radar Detection", 27th International Conference on Information Fusion (FUSION). 

Henrik Hilmarsen, Nicholas Dalhaug, Trym A, Nygård, Edmund Brekke, Rudolf Mester and Annette Stahl (2024). "Maritime Tracking-by-Detection with Object Mask Depth Retrieval Through Stereo Vision and Lidar", 27th International Conference on Information Fusion (FUSION). 

Joel Jose, Sanjeev K. R. Sudha and Erlend M. Coates (2024). "Reducing Controller Effort in a Deep Reinforcement Learning-based Autopilot for an Underactuated ASV", 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles. 

Thomas N. Larsen, Eirik R. Barlaug and Adil Rasheed (2024). "Variational Autoencoders for Exteroceptive Perception in Reinforcement Learning-Based Collision Avoidance", ASME 2024 43rd International Conference on Ocean, Offshore and Arctic Engineering. 

Simon Lexau, Anastasios M. Lekkas and Morten Breivik (2024). "Nonlinear PID Control for Automatic Docking of a Large Container Ship in Confined Waters under the Influence of Wind and Currents", Control Application in Marine Systems, Robotics and Vehicles (15th CAMS 2024). 

Michael E. Lopez, Kjetil Vasstein, Edmund Brekke, Rudolf Mester and Annette Stahl (2024). "A General Low-Parameter 3D Ship Hull Extent Model for Object Tracking", 27th International Conference on Information Fusion (FUSION). 

Emil Martens, Edmund Brekke, Rudolf Mester and Annette Stahl (2024). "A Lightweight, Polarization-Camera Equipped Sensor Rig for the Development of Autonomous Surface Vehicles", MTEC/ICMASS. 

Daniel Menges (2024). "Safe Optimal Control and Multi-Target Tracking Demonstrated with a Digital Twin", SFI AutoShip webinar. 

Daniel Menges and Adil Rasheed (2024). "Nonlinear Model Predictive Control for Enhanced Navigation of Autonomous Surface Vessels", 8th IFAC Confrence on Nonlinear Model Predictive Control (NMPC).

Daniel Menges, Andreas von Brandis and Adil Rasheed (2024). "Digital Twin of Autonomous Surface Vessels for Safe Maritime Navigation Enabled through Predictive Modeling and Reinforcement Learning", 43rd International Conference on Ocean, Offshore & Arctic Engineering. 

Daniel Menges and Adil Rasheed (2024). "Computationally and Memory-Efficient Robust Predictive Analytics Using Big Data", IEEE Conference on Artificial Intelligence.  

Trym A. Nygård, Edmund Brekke, Rudolf Mester and Annette Stahl (2024). "Dynamic Scene Representation for Docking in Urban Waters Using a Stereo Camera", MTEC/ICMASS. 

Trym Tengesdal (2024). "Towards Data-driven Collision Avoidance for Autonomous Ships", SFI AutoShip Days 2024.