AutoRemote

AutoRemote

Work Package 1

AutoRemote

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:

Henrik S. Berg, Daniel Menges, Trym Tengesdal, Adil Rasheed (2025). "Digital twin syncing for autonomous surface vessels using reinforcement learning and nonlinear model predictive control", Nature, Scientific Reports. 

Nicholas Dalhaug, Martin Baerveldt, Angelica I. Aviles-Rivero, Carola-Bibiane Schönlieb, Annette Stahl, Rudolf Mester, Edmund F. Brekke (2025). "Motion Constrained Point Cloud Matching for Maritime Tracking", IEEE Access.

Egil Eide, Morten Breivik, Edmund F. Brekke, Bjørn-Olav H. Eriksen, Erik F. Wilthil, Øystein K. Helgesen, Emil H. Thyri, Erik Aleksander Veitch, Ole Andreas Alsos, Tor Arne Johansen (2025). "The Autonomous Urban Passenger Ferry milliAmpere2: Design and Testing", Journal of Offshore Mechanics and Arctic Engineering. 

Steffen Folåsen, Martin L. Baerveldt, Michael Ernesto Lopez, Nicholas Dalhaug, Annette Stahl, Edmund F. Brekke (2025). "Extended Object Tracking Using a Gaussian Process Extent Model and Scene Flow-LiDAR Fusion", IEEE Aerospace Conference. Proceedings. 

Miguel A. Hinostroza, Camilla Fruzetti, Andreas G. Tufte, Simon J.N. Lexau, Alexey Gusev, Egil S. Eide, Edmund F. Brekke, Anastasios M. Lekkas, Roger Skjetne, Michele Martelli, Morten Breivik (2025). "Model Identification, Dynamic Positioning, and Thrust Allocation System for the milliAmpere1 Autonomous Ferry Prototype: Field Trial Results", IEEE Access.

Miguel A. Hinostroza, Egil S. Eide, Edmund F. Brekke, Morten Breivik, Anastasios M. Lekkas, Roger Skjetne, Torleiv H. Bryne, Alexey Gusev, Andreas G. Tufte (2025). "milliAmpere1 Autonomous Ferry Prototype: Hardware and Software", Proceedings of ASME 2025 and OMAE2025. 

Trym Tengesdal, Tom Arne Pedersen, Tor Arne Johansen (2025). "A Comparative Study of Rapidlyexploring Random Tree Algorithms Applied to Ship Trajectory Planning and Behavior Generation", Journal of Intelligent & Robotic Systems. 

 

Conference papers/ Seminars:

Martin L. Baerveldt, Edmund F. Brekke (2025). "Methods to Handle Interior and Boundary Measurements for the Gaussian Process Model", International conference on Information Fusion 2025. 

Martin Baerveldt and Andrea Wesenberg (2025). "Applying Extended Object Tracking in Confined Waterways", SFI AutoShip Days 2025. 

Anastasios M. Lekkas, Miguel A. Hinostroza, Ida Margrethe Tangen, Alexander Sandberg (2025). "Results from sea trials with milliAmpere 1", SFI AutoShip webinar. 

Simon J.N. Lexau (2025). "Online Model Adaptation for Autonomous Vessel Navigation: Experimental Results from Maritime Field Tests", SFI AutoShip Days 2025. 

Emil Martens (2025). "Caspar (CUDA Accelerator for Symbolic Programming with Adaptive Reordering)", SFI AutoShip Days 2025. 

Daniel Menges (2025). "Digital Twin for Situational Awareness and Optimal Control of Autonomous Surface Vessels", SFI AutoShip Days 2025. 

Johannes Robert Skarø (2025). "Free Space Estimation with Stereo Camera and LiDAR", SFI AutoShip Days 2025. 

Johannes Robert Skarø, Trym A. Nygård, Rudolf Mester, Annette Stahl, Edmund F. Brekke (2025). "Stixel-Based Free Space Estimation for USVs Using Stereo Camera and LiDAR", International conference on Information Fusion 2025.