
Professor
Key Scientist CoE Autonomous Marine
Operations and Systems (NTNU AMOS)
Professor II Norwegian Defence Research Establishment (FFI)
Co-founder and Board Member Eelume AS
CV
Google scholar profile

Research
Publications
Research
interests
- Nonlinear
control theory
- Motion control of mechanical
systems, in particular ships, AUVs, robot manipulators and snake robots
- Autonomous vehicles
- Robotics
- Cooperative and coordinated
control of mechanical systems
- Underactuated
and nonholonomic systems
PhD
candidates
Graduated
PhD candidates
- Ida-Louise Borlaug [LI], PhD thesis: Robust Control of Articulated Intervention-AUVs using Sliding Mode Control, NTNU thesis 2020:345.
- Martin Syre Wiig [LI], PhD thesis: Collision Avoidance and Path Following for Underactuated Marine Vehicles, NTNU thesis 2019:103.
- Albert Sans Muntadas [LI], PhD thesis: Path-Planning, Guidance and Navigation Tools for Docking Underactuated AUVs, NTNU thesis 2018:185.
- Michael Remo Palmén Ragazzon [LI] (co-advised), PhD thesis: Parameter Estimation in Atomic Force Microscopy, NTNU thesis 2018:146.
- Anna Kohl [LI] PhD thesis: Guidance and Control of Underwater Snake Robots Using Planar Sinusoidal Gaits, NTNU thesis 2017:292.
- Claudio Paliotta [LI] PhD thesis: Control of Under-actuated Marine Vehicles, NTNU thesis 2017:240.
- Dennis J.W. Belleter [LI] PhD thesis: Control of Underactuated Marine Vehicles in the Presence of Environmental Disturbances, NTNU thesis 2016:337.
- Signe Moe [LI]
PhD thesis: Guidance and Control of Robot Manipulators and Autonomous Marine Robots, NTNU thesis 2016:322.
- Eleni Kelasidi [LI]
PhD thesis: Modeling, Control and Energy Efficiency of Underwater Snake Robots, NTNU thesis 2015:140.
- Filippo Sanfilippo [LI],
PhD thesis: Alternative and Flexible Control Methods for Robotic Manipulators, NTNU thesis 2015:192.
- Daniel de Almeida Fernandes [LI],
(co-advised), PhD thesis: An Output Feedback Motion Control System for ROVs: Guidance Navigation and Control, NTNU thesis 2015:122.
- Ehsan Rezapour [LI],
PhD thesis: Model-based Locomotion Control of Underactuated Snake Robots, NTNU thesis 2015:46.
- Walter Caharija [LI],
PhD thesis: Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles, NTNU thesis 2014:316.
-
Magnus Christian Bjerkeng [LI],
PhD thesis: Sensor-based Control of Industrial Robots, NTNU thesis 2013:240.
- Johannes Schrimpf
(co-advised)
, PhD thesis: Sensor-based Real-time Control of Industrial Robots, NTNU thesis 2013:225.
- Arnfinn Aas Eielsen [LI]
(co-advised), PhD thesis: Topics in Control of Nanopositioning Devices, NTNU
thesis 2013:315.
- Mernout Burger [LI], PhD
thesis: Disturbance Rejecton using Conditional Integrators, NTNU thesis
2011:4.
- Pål Liljebäck [LI], PhD
thesis: Modelling, Development, and Control of
Snake Robots, NTNU thesis 2011:70.
Awarded the 2011
ExxonMobil prize for best doctoral dissertation at NTNU.
- Pål From
[LI] (co-advised), PhD thesis: Off-Shore Robotics - Robust and Optimal
Solutions for Autonomous Operations, NTNU thesis 2010:96.
- Anne Karin Bondhus [LI], PhD thesis:
Leader-Follower Synchronization of Mechanical Systems, NTNU thesis 2010:58.
- David Moreno Salinas
(visiting), Dpto. Informática
y Automática, ETSI Informática,
UNED, Ciudad Universitaria, Madrid, Spain. Fall 2009.
- Even Børhaug
[LI], PhD thesis: Nonlinear Control and Synchronization of Mechanical
Systems, NTNU thesis 2008:298.
- Aksel Andreas Transeth [LI] PhD
thesis: Modeling and Control of Snake Robots, NTNU thesis 2008:2.
- Jon E. Refsnes
[LI] (co-advised) PhD thesis: Nonlinear Model-Based Control of Slender
Body AUVs, NTNU thesis 2008:60.
- Erik Kyrkjebø [LI] PhD
thesis: Motion Coordination of Mechanical Systems: Leader-Follower
Synchronization of Euler-Lagrange Systems using Output Feedback Control, NTNU thesis 2007:60
- Lars Alminde
[LI] (visiting) Automation and Control, Aalborg University, Aalborg,
Denmark. Fall 2006.
- Reza Ghabcheloo
[LI] (visiting) Instituto de Sistemas e Robótica (ISR), Instituto Superior Técnico
(IST), Lisbon, Portugal. Spring
2006.
Post
Docs

Teaching
Courses
- TTK4150 Nonlinear Control
Systems
- TK8103 Advanced Nonlinear Systems
Student Projects
- Fall 2019 MSc student projects (Prosjektoppgaver)
- Spring 2019 MSc student projects (Masteroppgaver)

Dissemination
- 2020 IEEE CSS Bode Lecture: Snake robots, the 59th IEEE Conference on Decision and Control, December 17, 2020.
- KYP TeachTech YouTube channel on Nonlinear Control Systems.
- Snake robots exploring the oceans, NRK TV, June 19, 2019.

- Slangeroboter utforsker havet, By Thomas Høstad, NTNU Big Challenge Science Festival, Trondheim, Norway, June 16 – 19, 2019.
- A giant subsea snake robot, By Steinar Brandslet, Gemini, Starmus Special Edition, June 2017.
- 水中で魚の健康診断や石油企業のお手伝い、泳ぐヘビ型ロボット/ノルウェー, By Asaki Abumi, Yahoo!JAPAN, 2017-06-27.
- Hun har utviklet slangeroboter og jobber med å lukeparkere skip, By Joachim Seehusen, Teknisk Ukeblad, 2017-03-12.
- NTNU-professor første norske kvinne til prestisjefylt utnevnelse, Gemini, 2016-11-24.
- This terrifying robot snake could repair machines at the bottom of the ocean, Mashable, 2016-11-18.
- See Snake, By Russel McCulley, Upstream Technology, No. 3, 2016, pp. 20-22.
- Subsea Upcoming Company of the year, By Gunnar Buvik, GCE Subsea, 2016-06-15.
- Slangerobot på havbunnen, By Morten Andersen, NRK Dagsrevyen 21, 2016-04-18.
- Denne slangeroboten skal bli Statoils “vaktmester” på havbunnen, By Marius Lorentzen, E24, 2016-04-18.
- Slangeroboter skal revolusjonere vedlikeholdet subsea. By Ina Andersen, Teknisk Ukeblad, 2016-04-19.
- Slangeroboter forbedrer subsea inspeksjon og vedlikehold. By Kristin Y. Pettersen and Pål Liljebäck. DYP Magasinet, No. 2, 2016, pp. 18-19.
- Our swimming snake robots - media mentions.
- Our land-based snake robots - media mentions.
- Fremtiden
er her. Bilag om teknisk kybernetikk i Dagens Næringsliv 6. mars 2013.
- AMOS skal gjøre verden smartere, By
Svein Inge Meland, Adresseavisen 2013-02-26.

Kristin.Y.Pettersen[@]ntnu.no
Editor: Professor Kristin Y. Pettersen
Contact address: Department of Engineering Cybernetics, NTNU, N7491 Trondheim,
Norway. Tlf: (+47) 73 59 43
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