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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
  • Docking and rendevous for USVs, 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:

Øystein Kaarstad Helgesen, Annette Stahl and Edmund Førland Brekke (2023). "Maritime Tracking with Georeferenced Multi-Camera Fusion". IEEE Access.

Øystein Kaarstad Helgesen, Emil Hjelseth Thyri, Edmund Førland Brekke, Annette Stahl and Morten Breivik (2023). "Experimental validation of camerabased maritime collision avoidance for autonomous urban passenger ferries". MIC Journal: Modeling, Identification and Control. 

Audun Gullikstad Hem and Edmund Førland Brekke (2023). "Variations of Joint Integrated Data Association With Radar and TargetProvided Measurements". Journal of Advances in Information Fusion.

Simon Julian Nagelsaker Lexau, Morten Breivik, Anastasios Lekkas (2023). "Automated Docking for Marine Surface Vessels - A Survey". IEEE Access.

Daniel Menges and Adil Rasheed (2023). "An environmental disturbance observer framework for autonomous surface vessels". Ocean Engineering.

 

Conference papers/ Seminars:

Kjetil Vasstein, Øystein Kaarstad Helgesen and Edmund Førland Brekke (2023). "Hellinger Metrics for Validating High Fidelity Simulators Using Target Tracking". Lecture Notes in Computer Science (LNCS). 

Martin Lukas Baerveldt, Audun Gullikstad Hem and Edmund Førland Brekke (2023). "Comparing Multiple Extended Object Tracking with Point Based Multi Object Tracking for LiDAR in a Maritime Context". Journal of Physics: Conference Series (JPCS).

Michael Ernesto Lopez, Edmund Førland Brekke, Rudolf Mester and Annette Stahl (2023). "Multiscan Shape Estimation for Extended Object Tracking". IEEE Xplore Digital Library. 

Simon Julian Nagelsaker Lexau, Kaj-Robin Weslien, Roger Lauritsen, and Anastasios Lekkas (2023). "SFI AutoShip webinar on automated docking for marine surface vessels". SFI AutoShip webinar.

Michael Ernesto Lopez, Edmund Førland Brekke, Rudolf Mester and Annette Stahl (2023). "Multiscan Shape Estimation for Extended Object Tracking". Fusion 2023. 

Daniel Menges, Joar Håland and Edmund Førland Brekke (2023). "SFI AutoShip Webinar on Condition Monitoring". SFI AutoShip webinar. 

Daniel Menges and Adil Rasheed (2023). "Digital Twin for Autonomous Surface Vessels to Generate Situational Awareness". OMAE 2023 42nd International Conference on Ocean, Offshore & Arctic Engineering.

Annette Stahl (2023). "Autonomy needs Eyes - Visionbased Scene Perception and Interpretation for Autonomous Robots". AMOS Day, The Celebration Closing Event of the Center of Excellence NTNU AMOS

Adil Rasheed (2023). "Digital Twinning of Autonomous Systems". International Conference on Computational Science and AI in Industry.

Ayoub Tailoussane, Trym Tengesdal, Øystein Engelhardtsen, Tom Arne Pedersen and Ingrid Bouwer Utne (2023). "SFI Autoship webinar on bridging the gap between COLREGS and algorithms for collision avoidance". SFI Autoship webinar. 

Aksel Vaaler, Haakon Rennesvik Robinson, Trym Tengesdal and Adil Rasheed (2023). "Modular Collision Avoidance Using Predictive Safety Filters". OMAE 2023 42nd International Conference on Ocean, Offshore & Arctic Engineering.