Kristin Ytterstad Pettersen

Books

Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles Eds. T.I. Fossen, K.Y. Pettersen, and H. Nijmeijer Lecture notes in Control and Information Sciences Vol. 474, Springer International Publishing, 2017.
DOI: 10.1007/978-3-319-55372-6
Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control P.J. From, J.-T. Gravdahl and K.Y. Pettersen Advances in Industrial Control, Springer-Verlag London, 2014. ISBN 978-1-4471-5462-4.
DOI: 10.1007/978-1-4471-5463-1
Snake Robots: Modelling, Mechatronics, and Control P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.-T. Gravdahl Advances in Industrial Control, Springer-Verlag London, 2013. ISBN: 978-1-4471-2995-0.
DOI: 10.1007/978-1-4471-2996-7
Group Coordination and Cooperative Control Eds. K.Y. Pettersen, J.T.Gravdahl and H. Nijmeijer Lecture Notes in Control and Information Sciences, Volume 336, Springer-Verlag Berlin Heidelberg, 2006, ISBN: 3-540-33468-8.
DOI: 10.1007/11505532

Articles in Peer-Reviewed Journals

A Distributed NSB Algorithm for Formation Path Following J. Matouš, K.Y. Pettersen, D. Varagnolo and C. Paliotta, IEEE Transactions on Control Systems Technology, 2024. DOI: 10.1109/TCST.2024.3443703
Communication-aware NSB formation control for networks of AUVs S.A. Hoff, J. Matouš. D. Varagnolo and K.Y. Pettersen, European Journal of Control, 2024. DOI: 10.1016/j.ejcon.2024.101062
The Hand Position Concept for Control of Underactuated Underwater Vehicles J. Matouš, C. Paliotta, K.Y. Pettersen, D. Varagnolo, IEEE Transactions on Control Systems Technology, 2024. DOI: 10.1109/TCST.2024.3412529
Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees H.M. Schmidt-Didlaukies, E.A. Basso and K.Y. Pettersen, IEEE Control Systems Letters, Vol. 8, 2024, pp. 730 – 735. DOI: 10.1109/LCSYS.2024.3402910
Automatic Alignment of Underwater Snake Robots Operating in Wakes of Bluff Bodies A. Orucevic, M. Wrzos-Kaminska, M.E.B. Lysø, K.Y. Pettersen and J.T. Gravdahl, Control Engineering Practice, Vol. 147, 105904, 2024. DOI: 10.1016/j.conengprac.2024.105904
Tracking Control of Cooperative Marine Vehicles under Hard and Soft Constraints E. Restrepo, J. Matouš and K.Y. Pettersen IEEE Transactions on Control of Network Systems, 2024. DOI: 10.1109/TCNS.2024.3378392
A Theoretical Analysis of The Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels A. Haraldsen, M. S. Wiig and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 32, No. 5, 2024, pp. 1801-1816. DOI: 10.1109/TCST.2024.3375023
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots A. Orucevic, M. Wrzos-Kaminska, J.T. Gravdahl and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 32, No. 5, 2024, pp. 1631 - 1646. DOI: 10.1109/TCST.2023.3345211
Global Asymptotic Position and Heading Tracking for Multirotors using Tuning Function-based Adaptive Hybrid Feedback E.A. Basso, H.M. Schmidt-Didlaukies and K.Y. Pettersen IEEE Control Systems Letters, Vol. 7, 2023, pp. 295 – 300. DOI: 10.1109/LCSYS.2022.3187505
Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and A.J. Sørensen IEEE Transactions on Automatic Control, Vol. 68, No. 3, 2023, pp. 1584-1599. DOI: 10.1109/TAC.2022.3161372
The generalized super-twisting algorithm with adaptive gains I.-L. Borlaug, K.Y. Pettersen and J.T. Gravdahl International Journal of Robust and Nonlinear Control, Vol. 32, No. 13, 2022, pp. 7240 - 7270. DOI: 10.1002/rnc.6212
Autonomous ROV inspections of aquaculture net pens using DVL H.B. Amundsen, W. Caharija and K.Y. Pettersen IEEE Journal of Oceanic Engineering, Vol. 47, No. 1, 2022, pp. 1-19. DOI: 10.1109/JOE.2021.3105285
Formation Path Following Control of Underactuated USVs Å. Eek, K.Y. Pettersen, E-L.M. Ruud and T.R. Krogstad European Journal of Control, Vol. 62, 2021, pp. 171-184. DOI: 10.1016/j.ejcon.2021.06.027
Path Planning for UGVs with Terrain Traversability Optimization based on Hybrid A* M. Thoresen, N. Hygum Nielsen, K. Mathiassen and K.Y. Pettersen IEEE Robotics and Automation Letters, Vol. 6, No. 2, 2021, pp. 1216-1223. DOI: 10.1109/LRA.2021.3056028
Comparison of two second-order sliding mode control algorithms for an articulated intervention-AUV: Theory and experimental results I.-L. Borlaug, K.Y. Pettersen and J.T. Gravdahl Ocean Engineering, Vol. 222, Feb. 2021, 108480. DOI: 10.1016/j.oceaneng.2020.108480
Tracking control of an articulated intervention AUV in 6DOF using generalized super-twisting: Theory and Experiments I.-L. Borlaug, K.Y. Pettersen and J.T. Gravdahl IEEE Transactions on Control Systems Technology, Vol. 29, No. 1, 2021, pp. 353-369 DOI: 10.1109/TCST.2020.2977302
Set-based Collision Avoidance: Applications to robotic systems S. Moe, K.Y. Pettersen and J.T. Gravdahl Mechatronics, Vol. 69, Aug. 2020, pp. 102399 DOI: 10.1016/j.mechatronics.2020.102399
Combined kinematic and dynamic control of vehicle-manipulator systems I.-L. Borlaug, K.Y. Pettersen and J.T. Gravdahl Mechatronics, Vol. 69, Aug. 2020, pp. 102380. DOI: 10.1016/j.mechatronics.2020.102380
A 3D Reactive Collision Avoidance Algorithm for Underactuated Underwater Vehicles M.S. Wiig, K.Y. Pettersen and T.R. Krogstad Journal of Field Robotics, Vol. 37, No. 6, 2020, pp. 1094-1122 DOI: 10.1002/rob.21948
Collision avoidance for underactuated marine vehicles using the constant avoidance angle algorithm M.S. Wiig, K.Y. Pettersen and T.R. Krogstad IEEE Transactions on Control Systems Technology, Vol. 28, No. 3, 2020, pp. 951-966 DOI: 10.1109/TCST.2019.2903451
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots E. Kelasidi, S. Moe, K.Y. Pettersen, A.M. Kohl, P. Liljebäck, J.T. Gravdahl, Frontiers in Robotics and AI, July 2019. DOI: 10.3389/frobt.2019.00057
Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments M. Ragazzon, J.T. Gravdahl and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 27, No. 5, 2019, pp. 2045-2057 DOI: 10.1109/TCST.2018.2847644
Learning an AUV docking maneuver with a convolutional neural network A. Sans-Muntadas, E. Kelasidi, K.Y. Pettersen and E. Brekke IFAC Journal of Systems and Control, Vol. 8, June 2019 DOI: https://doi.org/10.1016/j.ifacsc.2019.100049
Experimental verification of a coordinated path following strategy for underactuated marine vehicles D.J.W. Belleter, J. Braga and K.Y. Pettersen Frontiers in Robotics and AI, May 2019 DOI: 10.3389/frobt.2019.00035
Trajectory tracking and path following for under-actuated marine vehicles C. Paliotta, E. Lefeber, K.Y. Pettersen, J.Pinto, M. Costa and J. Sousa IEEE Transactions on Control Systems Technology, Vol. 27, No. 4, 2019, pp. 1423-1437 DOI: 10.1109/TCST.2018.2834518
Trajectory tracking for underwater swimming manipulator using a super twisting algorithm I.-L. G. Borlaug, J. T. Gravdahl, J. Sverdrup-Thygeson, K.Y. Pettersen, and A. Loria Asian Journal of Control, Vol. 21, No. 1, 2019, pp. 208-223 DOI: 10.1002/asjc.1840
Path planning and guidance for underactuated vehicles with limited field-of-view A. Sans-Muntadas, E. Kelasidi, K.Y. Pettersen and E. Brekke Ocean Engineering, Vol. 174, Feb. 2019, pp. 84-95 DOI: 10.1016/j.oceaneng.2019.01.027
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Global Approach D.J.W. Belleter, M. Maghenem, C. Paliotta and K.Y. Pettersen Automatica, Vol. 100, Feb. 2019, pp. 123-134 DOI: 10.1016/j.automatica.2018.11.008
Experimental Investigation of Locomotion Efficiency and Path Following for Underwater Snake Robots with and without a Caudal Fin E. Kelasidi, A.M. Kohl, K.Y. Pettersen, B.H. Hoffmann and J.T. Gravdahl Annual Reviews in Control, Vol. 46, 2018, pp. 281-294 DOI: 10.1016/j.arcontrol.2018.10.001
Set-based Control for Autonomous Spray Painting S. Moe, J.T. Gravdahl and K.Y. Pettersen IEEE Transactions on Automation Science and Engineering, Vol. 15, No. 4, 2018, pp. 1785 - 1796 DOI: 10.1109/TASE.2018.2801382
The Underwater Swimming Manipulator - A Bio-Inspired Solution for Subsea Operations J. Sverdrup-Thygeson, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl IEEE Journal of Oceanic Engineering, Vol. 43, No. 2, 2018, pp. 402-417 DOI: 10.1109/JOE.2017.2768108
A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mock-up Interface F. Sanfilippo, L.I. Hatledal, Y. Chu, K.Y. Pettersen and H. Zhang IEEE Journal of Oceanic Engineering, Vol 43, No. 2, 2018, pp. 468-483 DOI: 10.1109/JOE.2017.2691920
Locomotion efficiency optimization of biologically inspired snake robots E. Kelasidi, M. Jesmani, K.Y. Pettersen, and J.T. Gravdahl Applied Sciences, Vol. 8, No. 1, 2018 DOI: 10.3390/app8010080
Snake Robots K.Y. Pettersen Annual Reviews in Control, Vol. 44, 2017, pp. 19-44 DOI: 10.1016/j.arcontrol.2017.09.006
Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments E. Kelasidi, P. Liljebäck, K.Y. Pettersen and J.T. Gravdahl IEEE Transactions on Robotics, Vol. 33, No. 3, 2017, pp. 610-628 DOI: 10.1109/TRO.2017.2651119
Lyapunov Sufficient Conditions for Uniform Semiglobal Exponential Stability K.Y. Pettersen Automatica, Vol. 78, 2017, pp. 97-102 DOI: 10.1016/j.automatica.2016.12.004 | 10.1016/j.automatica.2019.05.035
Planar Maneuvering Control of Underwater Snake Robots Using Virtual Holonomic Constraints A. Kohl, E. Kelasidi, A. Mohammadi, M. Maggiore and K.Y. Pettersen Bioinspiration and Biomimetics, Vol. 11, No. 6, 2016 DOI: 10.1088/1748-3190/11/6/065005
Multi-objective optimization for efficient motion of underwater snake robots E. Kelasidi, M. Jesmani, K.Y. Pettersen, and J.T. Gravdahl Springer Artificial Life and Robotics, Vol. 21, No. 4, 2016, pp. 1-12 DOI: 10.1007/s10015-016-0332-3
Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments W. Caharija, K.Y. Pettersen, M. Bibuli, P. Calado, E. Zereik, J. Braga, J.T. Gravdahl, A.J. Sørensen, M. Milovanovic and G. Bruzzone IEEE Transactions on Control Systems Technology, Vol. 24, No. 5, 2016, pp. 1623-1642 DOI: 10.1109/TCST.2015.2504838
DOI: 10.1109/TCST.2018.2796981
Formation Control of Underactuated Bio-inspired Snake Robots E. Rezapour, K.Y. Pettersen, J.T. Gravdahl and A. Hofmann Springer Artificial Life and Robotics, Vol. 21, No.3, 2016, pp 282–294 DOI: 10.1007/s10015-016-0297-2
Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results S. Moe, G. Antonelli, A. Teel, K.Y. Pettersen and J. Schrimpf Frontiers in Robotics and AI, Section Robotic Control Systems. April 2016 DOI: 10.3389/frobt.2016.00016
Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints A. Mohammadi, E. Rezapour, M. Maggiore and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 24, No. 3, 2016, pp. 884-899 DOI: 10.1109/TCST.2015.2467208
Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC) F. Sanfilippo, L.I. Hatledal, A. Styve, K.Y. Pettersen and H. Zhang IEEE Journal of Oceanic Engineering. Vol. 41, No. 2, 2016, pp. 450-461 DOI: 10.1109/JOE.2015.2439891
Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots E. Kelasidi, P. Liljebäck, K.Y. Pettersen and J.T. Gravdahl IEEE Robotics and Automation Magazine, Vol. 23, No. 1, 2016, pp. 44-62 DOI: 10.1109/MRA.2015.2506121
Planar Path Following of Underwater Snake Robots in the Presence of Ocean Currents A. Kohl, K.Y. Pettersen, E. Kelasidi and J.T. Gravdahl IEEE Robotics and Automation Letters, Vol. 1, No. 1, 2016, pp. 383-390 DOI: 10.1109/LRA.2016.2517827
Experimental Investigation of Efficient Locomotion of Underwater Snake Robots for Lateral Undulation and Eel-like Motion Patterns E. Kelasidi, P. Liljebäck, K.Y. Pettersen and J.T. Gravdahl Springer Robotics and Biomimetics, Vol. 2, No. 8, 2015 DOI: 10.1186/s40638-015-0029-4
Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar F. Sanfilippo, L.I. Hatledal, H. Zhang, M. Fago and K.Y. Pettersen IEEE Robotics and Automation Magazine, Vol. 22, No. 4, December 2015, pp. 96-109 DOI: 10.1109/MRA.2015.2482839
Output feedback motion control system for observation class ROVs based on a high-gain state observer: theoretical and experimental results D. de A. Fernandes, A.J. Sørensen, K.Y. Pettersen, D.C. Donha Control Engineering Practice, Vol. 39, 2015, pp. 90-102 DOI: 10.1016/j.conengprac.2014.12.005
Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces T.I. Fossen, K.Y. Pettersen and R. Galeazzi IEEE Transactions on Control Systems Technology, Vol. 23, No. 2, March 2015, pp. 820 – 827 DOI: 10.1109/TCST.2014.2338354
Path Following Control of Planar Snake Robots using Virtual Holonomic Constraints: Theory and Experiments E. Rezapour, K.Y. Pettersen, P. Liljebäck, J.T. Gravdahl and E. Kelasidi Robotics and Biomimetics, 1:3, 2014 DOI: 10.1186/s40638-014-0003-6
On Uniform Semiglobal Exponential Stability (USGES) of Proportional Line-of-Sight Guidance Laws T.I. Fossen and K.Y. Pettersen Automatica, Vol. 50, No. 11, 2014, pp. 2912-2917 DOI: 10.1016/j.automatica.2014.10.018
Stability analysis of a hierarchical architecture for discrete time sensor-based control of robotic systems M. Bjerkeng, P. Falco, C. Natale and K.Y. Pettersen IEEE Transactions on Robotics, Vol. 30, No. 3, 2014, pp. 745-752 DOI: 10.1109/TRO.2013.2294882
Relative Velocity Control and Integral LOS for Path Following of ASVs: Merging Intuition with Theory W. Caharija, K.Y. Pettersen, A.J. Sørensen, M. Candeloro, and J.T Gravdahl Part M: Journal of Engineering for the Maritime Environment, Vol. 228, No. 2, 2014 DOI: 10.1177/1475090213512293
Damping and Tracking Control Schemes for Nanopositioning A.A. Eielsen, M. Vagia, J.T. Gravdahl and K.Y. Pettersen IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 2, 2014, pp. 432 - 444 DOI: 10.1109/TMECH.2013.2242482
Lateral undulation of snake robots: A simplified model and fundamental properties P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T Gravdahl Robotica, 31, pp. 1005-1036, 2013 DOI: 10.1017/S0263574713000295
Snake robot locomotion in environments with obstacles P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T Gravdahl IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 6, 2012, pp. 1158 - 1169 DOI: 10.1109/TMECH.2011.2159863
Adaptive Feed-Forward Hysteresis Compensation for Piezoelectric Actuators A.A. Eielsen, J.T. Gravdahl and K.Y. Pettersen Review of Scientific Instruments, Vol. 83, No. 8, 2012 DOI: 10.1063/1.4739923
On the boundedness property of the inertia matrix and skew-symmetric property of the Coriolis matrix for vehicle-manipulator systems P. J. From, I. Schjølberg, J.T. Gravdahl, K.Y. Pettersen and T.I. Fossen ASME Journal of Dynamic Systems, Measurement and Control, Vol. 134, No. 4, 2012 DOI: 10.1115/1.4006077
A review on modelling, implementation, and control of snake robots P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T Gravdahl Robotics and Autonomous Systems, Vol. 60, no. 1, 2012, pp. 29-40 DOI: 10.1016/j.robot.2011.08.010
Path following control of planar snake robots using a cascaded approach P. Liljebäck, I.U. Haugstuen, and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 20, No. 1, 2012, pp. 111-126 DOI: 10.1109/TCST.2011.2107516
Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems P.J. From, K.Y. Pettersen, and J.T. Gravdahl ACTA Astronautica, Vol. 69, Issues 11-12, 2011, pp. 1057–1065 DOI: 10.1016/j.actaastro.2011.06.014
Controllability and stability analysis of planar snake robot locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T Gravdahl IEEE Transactions on Automatic Control, Vol. 56, No. 6, June 2011, pp. 1365-1380 DOI: 10.1109/TAC.2010.2088830
Experimental investigation of obstacle-aided locomotion with a snake robot P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl, and J.T Gravdahl IEEE Transactions on Robotics (T-RO), Vol. 27, No. 4, 2011, pp. 792-800 DOI: 10.1109/TRO.2011.2134150
Straight Line Path Following for Formations of Underactuated Marine Surface Vessels E. Børhaug, A. Pavlov, E. Panteley and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 19, No. 3, 2011, pp. 493-506 DOI: 10.1109/TCST.2010.2050889
Output feedback tracking of ships M. Wondergem, E. Lefeber, K.Y. Pettersen and H. Nijmeijer IEEE Transactions on Control Systems Technology, Vol.19, No. 2, 2011, pp. 442-448 DOI: 10.1109/TCST.2010.2045654
Hybrid modelling and control of obstacle-aided snake robot locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl IEEE Transactions on Robotics (T-RO), Vol. 26, No. 5, 2010, pp. 781-799 DOI: 10.1109/TRO.2010.2056211
Two new design concepts for snake robot locomotion in unstructured environments P. Liljebäck, Ø. Stavdahl, K.Y. Pettersen, and J.T Gravdahl Paladyn Journal of Behavioral Robotics, Vol. 1, No. 3, 2010, pp. 154-159 DOI: 10.2478/s13230-011-0001-0
Singularity-Free Dynamic Equations of Vehicle-Manipulator Systems P.J. From, V. Duindam, K.Y. Pettersen, J.T. Gravdahl and S. Sastry Simulation Modelling Practice and Theory, Vol. 18, No. 6, 2010, pp. 712 – 731 DOI: 10.1016/j.simpat.2010.01.012
A Survey on Snake Robot Modeling and Locomotion A.A. Transeth, K.Y. Pettersen and P. Liljebäck Robotica, Vol. 27, no. 07, 2009, pp. 999-1015 DOI: 10.1017/S0263574709005414
Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control P. Liljebäck, Ø. Stavdahl and K.Y. Pettersen Modeling, Identification and Control, Vol. 29, No. 1, 2008, pp. 21 - 28 DOI: 10.4173/mic.2008.1.2
A new perspective on stable inversion of non-minimum phase nonlinear systems A. Pavlov and K.Y. Pettersen Modeling, Identification and Control, Vol. 29, No. 1, 2008, pp. 29 - 35 DOI: 10.4173/mic.2008.1.3
Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments J. Refsnes, A.J. Sørensen and K.Y. Pettersen IEEE Transactions on Control Systems Technology, Vol. 16, No. 5, 2008, pp. 930 – 946 DOI: 10.1109/TCST.2007.916347
Operational space synchronization of two robot manipulators through a virtual velocity estimate E. Kyrkjebø and K.Y. Pettersen Modeling, Identification and Control, Vol. 29, No. 2, 2008, s. 59-66 DOI: 10.4173/mic.2008.2.3
3-D Snake Robot Motion: Nonsmooth Modeling, Simulations, and Experiments A. A. Transeth, R.I. Leine, C. Glocker and K.Y. Pettersen IEEE Transactions on Robotics, Vol. 24, No. 2, 2008, pp. 361-376 DOI: 10.1109/TRO.2008.917003
Snake robot obstacle aided locomotion: Modeling, Simulations and Experiments A. A. Transeth, R.I. Leine, C. Glocker, K.Y. Pettersen and P. Liljebäck IEEE Transactions on Robotics, Vol. 24, No. 1, 2008, pp. 88-104 DOI: 10.1109/TRO.2007.914849
Output feedback control of slender body underwater vehicles with current estimation J. Refsnes, A.J. Sørensen and K.Y. Pettersen International Journal of Control, Vol. 80, No. 7, 2007, pp. 1136-1150 DOI: 10.1080/00207170601164157
Output synchronization control of ship replenishment operations: Theory and experiments E. Kyrkjebø, K.Y. Pettersen. M. Wondergem and H. Nijmeijer Control Engineering Practice, Vol. 15, No. 6, 2006, pp. 741-755 DOI: 10.1016/j.conengprac.2006.07.001
Global K-exponential way-point manouvring of ships: Theory and Experiments E. Fredriksen and K.Y. Pettersen Automatica, Vol. 42, No. 4, 2006, pp. 677-687 DOI: 10.1016/j.automatica.2005.12.020
A Simulation game for nonlinear control theory education R. Haugom, O.K. Solbjørg, K.Y. Pettersen and T.I. Eikaas Modeling, Identification and Control, Vol. 28, No. 2, April 2006, pp. 45-61 DOI: 10.4173/mic.2007.2.3
Optimal Statistical Operators for 3-Dimensional Rotational Data Ø. Stavdahl, A.K. Bondhus, K.Y. Pettersen and K. Malvig Robotica, Vol. 23, No. 3, 2005, pp. 283-292 DOI: 10.1017/S0263574704001304
Global Uniform Asymptotic Stabilization of an Underactuated Surface Vessel: Experimental Results K.Y. Pettersen, F. Mazenc and H. Nijmeijer IEEE Transactions on Control Systems Technology, Vol. 12, No. 6, Nov. 2004, pp. 891-903 DOI: 10.1109/TCST.2004.833643 DOI: 10.1109/TCST.2006.888993
Global Uniform Asymptotic Stabilization of an Underactuated Surface Vessel F. Mazenc, K.Y. Pettersen and H. Nijmeijer IEEE Transactions on Automatic Control, Vol. 47, No. 10, Oct. 2002, pp.1759-1762 DOI: 10.1109/TAC.2002.803554
Tracking control of an under-actuated ship A.A.J. Lefeber, K. Y. Pettersen and H. Nijmeijer IEEE Transactions on Control Systems Technology, Vol. 11, No. 1, Jan. 2003, pp. 52-61 DOI: 10.1109/TCST.2002.806465
Underactuated Ship Tracking Control: Theory and Experiments K.Y. Pettersen and H. Nijmeijer International Journal of Control, Vol. 74, No. 14, 2001, pp. 1435-1446 DOI: 10.1080/00207170110072039
Semi-Global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship K. Y. Pettersen and H. Nijmeijer Modeling, Identification and Control, Vol. 22, No. 2, April 2001, pp. 89-101 DOI: 10.4173/mic.2001.2.3
Underactuated Dynamic Positioning of a Ship - Experimental Results K.Y. Pettersen and T.I. Fossen IEEE Transactions on Control Systems Technology, Vol. 8, No. 5, Sep. 2000, pp. 856-863 DOI: 10.1109/87.865859
Stabilization of a Nonlinear Underactuated Hovercraft I. Fantoni, R. Lozano, F. Mazenc and K.Y. Pettersen International Journal of Robust and Nonlinear Control, Vol. 10, No. 8, July 2000, pp.645-654 DOI: 10.1002/1099-1239
Global Practical Stabilization and Tracking for an Underactuated ship - A Combined Averaging and Backstepping Approach K.Y. Pettersen and H. Nijmeijer Modeling, Identification and Control, Vol 20, No 4, 1999, pp. 189-200 DOI: 10.4173/mic.1999.4.1
Time-varying Exponential Stabilization of the Position and Attitude of an Underactuated Autonomous Underwater Vehicle K.Y. Pettersen and O. Egeland IEEE Transactions on Automatic Control, Vol. 44, No. 1, 1999, pp. 112-115 DOI: 10.1109/9.739086
Exponential Stabilization of an Underactuated Surface Vessel, Modeling, Identification and Control K.Y. Pettersen and O. Egeland Modeling, Identification and Control, Vol 18, No 3, 1997, pp.239-248 DOI: 10.4173/mic.1997.3.3

Peer-Reviewed Conference Publications

Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem E.A. Basso and H.M. Schmidt-Didlaukies and K.Y. Pettersen Proc. 63rd Conference on Decision and Control Milano, Italy, Dec. 16-19, 2024, 2024. DOI: XX
Orbital Control for Swimming in Underwater Snake Robots using Energy-shaping and Consensus Control M.E.B. Lysø, E. Panteley, K.Y. Pettersen and J.T. Gravdahl Proc. 63rd Conference on Decision and Control Milano, Italy, Dec. 16-19, 2024, 2024. DOI: XX
Super-Twisting Impedance Control for Robust and Compliant Intervention using a Redundant Robot Manipulator J.I. Dyrhaug, E.L. Foseid, H.M. Schmidt-Didlaukies, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl Proc.4th Modeling, Estimation, and Control Conference Chicago, Illinois, Oct. 27-30, 2024. DOI: XX
Underwater vehicle navigation using bearing measurements from a mobile beacon S. Hoff, H.M. Schmidt-Didlaukies, E.A. Basso, D. Varagnolo and K.Y. Pettersen Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Energy-Shaping Control for Swimming in Underwater Snake Robots M.E.B. Lysø, K.Y. Pettersen and J.T. Gravdahl, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Robust Interaction using Generalized Super-Twisting Impedance Control J.I. Dyrhaug, K.Y. Pettersen and J.T. Gravdahl, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles E.L. Foseid, E.A. Basso, H.M. Schmidt-Didlaukies, M. Marley, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Kinematic Task-Priority Path Following for Articulated Marine Vehicles B.K. Sæbø, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Power-Based Safety Constraint for Redundant Robotic Manipulators E. Tveter, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. | IFAC CAMS 2024 Best Paper Award. DOI: XX
MPC Path Following with Macroscopic Shape Adjustment for AIAUVs I. Gushkov, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot A. Orucevic, E.L. Foseid, M.E.B. Lysø, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs M. Wrzos-Kaminska, B.K. Sæbø, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Centralized Underwater Cooperative Transport with Prioritized Safety Constraints M.H. Iversflaten, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Blacksburg, Virginia, USA, Sep. 3-5, 2024. DOI: XX
Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints G. D’Antuono, K.Y. Pettersen, L.R. Buonocore, J.T. Gravdahl and M. Di Castro Proc. the 8th IEEE Conference on Control Technology and Applications Newcastle upon Tyne, UK, Aug. 21-23, 2024. DOI: XX
Safety-critical Guidance of Underactuated Marine Vehicles in Dynamic Environments using Velocity Obstacles A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. the 8th IEEE Conference on Control Technology and Applications Newcastle upon Tyne, UK, Aug. 21-23, 2024. DOI: XX
Adaptive Manoeuvring Control for Planar Snake Robots in Uncertain Friction Environments H. Chitikena, I. Gravdahl, K.Y. Pettersen, A. Mohammadi, F. Sanfilippo, Ø. Stavdahl and S. Ma Proc. 2024 American Control Conference Toronto, Canada, July 8-12, 2024. DOI: 10.23919/ACC60939.2024.10644564
Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles A. Haraldsen, M.S. Wiig, A.D. Ames and K.Y. Pettersen Proc. 2024 American Control Conference Toronto, Canada, July 8-12, 2024. DOI: 10.23919/ACC60939.2024.10644678
Model Predictive Task-Priority Control using Control Lyapunov Functions E.L. Foseid, E.A. Basso, H. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl Proc. 22nd European Control Conference Stockholm, Sweden, June 24-28, 2024. DOI: 10.23919/ECC64448.2024.10591286
Formation Control of Underactuated AUVs Using the Hand Position Concept E.S. Lie, J. Matouš and K.Y. Pettersen Proc. 62nd IEEE Conference on Decision and Control Marina Bay Sands, Singapore, Dec. 13-15, 2023. DOI: 10.1109/CDC49753.2023.10384173
Hardware-in-the-Loop Simulation of Vehicle Manipulator Systems for Physical Interaction Tasks H. Das, B.K. Sæbø, K.Y. Pettersen and C. Ott Proc. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems Detroit, USA, October 1-5, 2023. DOI: 10.1109/IROS55552.2023.10342250
Hierarchical compliance-control-based docking of an UVMS T. Nysæther, K.Y. Pettersen and J.T. Gravdahl Proc. OCEANS Gulf Coast, Mississippi, Sep. 25-28, 2023. DOI: 10.23919/OCEANS52994.2023.10337147
Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots I. Gushkov, A. Orucevic, K.Y. Pettersen, W. Yao and J.T. Gravdahl Proc. 7th IEEE Conference on Control Technology and Applications Bridgetown, Barbados, August 16-18, 2023. DOI: 10.1109/CCTA54093.2023.10252704
Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. 7th IEEE Conference on Control Technology and Applications Bridgetown, Barbados, August 16-18, 2023. DOI: 10.1109/CCTA54093.2023.10253362
Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation G. D'Antuono, K.Y. Pettersen, L.R. Buonocore, J.T. Gravdahl, M. Di Castro Proc. 22nd IFAC World Congress Yokohama, Japan, July 9 – 14, 2023. DOI: 10.1016/j.ifacol.2023.10.502
Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion M.E.B.Lysø, E.I. Grøtli and K.Y. Pettersen Proc. 22nd IFAC World Congress Yokohama, Japan, July 9 – 14, 2023. DOI: 10.1016/j.ifacol.2023.10.419
Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors M.H. Iversflaten, B.K. Sæbø, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl Proc. 22nd IFAC World Congress Yokohama, Japan, July 9 – 14, 2023. DOI: 10.1016/j.ifacol.2023.10.374
Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems J.I. Dyrhaug, E. Tveter, H.M. Schmidt-Didlaukies, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl Proc. 22nd IFAC World Congress Yokohama, Japan, July 9 – 14, 2023. DOI: 10.1016/j.ifacol.2023.10.373
Singularity-free Formation Path Following of Underactuated AUVs J. Matouš, K.Y. Pettersen, D. Varagnolo and C. Paliotta Proc. 22nd IFAC World Congress Yokohama, Japan, July 9 – 14, 2023. DOI: 10.1016/j.ifacol.2023.10.378
Optimal Positioning of Snake Robots in Vortex Wakes using Extremeum-Seeking Control A. Orucevic, M.E.B.Lysø, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J. T. Gravdahl Proc. 22nd IFAC World Congress Yokohama, Japan, July 9 – 14, 2023. DOI: 10.1016/j.ifacol.2023.10.535
Synergistic PID and Output Feedback Control on Matrix Lie Groups E.A. Basso, H.M. Schmidt-Didlaukies, A.J. Sørensen and K.Y. Pettersen Proc. 12th IFAC Symposium on Nonlinear Control Systems Canberra, Australia, Jan. 4-6, 2023 | IFAC NOLCOS 2022+ Young Author Award DOI: 10.1016/j.ifacol.2023.02.021
A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships H.M. Schmidt-Didlaukies, E.A. Basso, A.J. Sørensen and K.Y. Pettersen Proc. 61st IEEE Conference on Decision and Control Cancún, Mexico, Dec. 6-9, 2022. DOI: 10.1109/CDC51059.2022.9992911
Global Asymptotic Position and Heading Tracking for Multirotors using Tuning Function-based Adaptive Hybrid Feedback E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and A.J. Sørensen Proc. 61st IEEE Conference on Decision and Control Cancún, Mexico, Dec. 6-9, 2022. DOI: 10.1109/LCSYS.2022.3187505
Data-driven control of planar snake robot locomotion M.L. Scarpa, B. Nortmann, K.Y. Pettersen and T. Mylvaganam Proc. 61st IEEE Conference on Decision and Control Cancún, Mexico, Dec. 6-9, 2022. DOI: 10.1109/CDC51059.2022.9992937
Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems Markus H. Iversflaten, A. Haraldsen and K.Y. Pettersen Proc. 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Kongens Lyngby, Denmark, Sep. 14-16, 2022 | IFAC CAMS 2022 Young Author Award DOI: 10.1016/j.ifacol.2022.10.417
Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles Kongens Lyngby, Denmark, Sep. 14-16, 2022. DOI: 10.1016/j.ifacol.2022.10.476
Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems B.K. Sæbø, K.Y. Pettersen and J. T. Gravdahl Proc. 2022 IEEE Conf. Control Technology and Applications Trieste, Italy, August 22 – 25, 2022. DOI: 10.1109/CCTA49430.2022.9966055
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots A. Orucevic, J.T. Gravdahl, K.Y. Pettersen and A. Chaillet Proc. 2022 IEEE Conf. Control Technology and Applications Trieste, Italy, August 22 – 25, 2022. DOI: 10.1109/CCTA49430.2022.9966034
Modeling for HOAL: Hybrid Obstacle-Aided Locomotion of Snake Robots I. Gravdahl, Ø. Stavdahl, A. Koushan, J. Løwer and K.Y. Pettersen Proc. 10th Vienna International Conference on Mathematical Modelling Vienna, Austria, July 27-29, 2022. DOI: 10.1016/j.ifacol.2022.09.103
Formation Path Following Control of Underactuated AUVs J. Matouš, K.Y. Pettersen and C. Paliotta Proc. 2022 European Control Conference London, UK, July 12 – 15, 2022. DOI: 10.23919/ECC55457.2022.9838029
Tracking-in-Formation of Multiple Autonomous Marine Vehicles under Proximity and Collision-Avoidance Constraints E. Restrepo, J. Matouš and K.Y. Pettersen Proc. 2022 European Control Conference London, UK, July 12 – 15, 2022. DOI: 10.23919/ECC55457.2022.9838207
Distributed MPC for Formation Path-Following of Multi-Vehicle Systems J. Matouš, D. Varagnolo, K.Y. Pettersen and C. Paliotta Proc. 9th IFAC Workshop on Networked Systems Zurich, Switzerland, July 5 – 7, 2022. DOI: 10.1016/j.ifacol.2022.07.240
Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems K. Seel, M. Haring, E.I. Grøtli, K.Y. Pettersen and J.T. Gravdahl Proc. 2021 Modeling, Estimation and Control Conference Online/Austin, TX, Oct. 24-27, 2021. DOI: 10.1016/j.ifacol.2021.11.151
Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems Online/Tokyo, Japan, Sep. 15-17, 2021. DOI: 10.1016/j.ifacol.2021.10.345
Unifying Reactive Collision Avoidance and Control Allocation for Multi-vehicle Systems J. Matous, E.A. Basso, E.H. Thyri and K.Y. Pettersen Proc. 2021 IEEE Conference on Control Technology Applications Online/San Diego, CA, Aug. 8-11, 2021. DOI: 10.1109/CCTA48906.2021.9658918
Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. 2021 IEEE Conference on Control Technology Applications Online/San Diego, CA, Aug. 8-11, 2021. DOI: 10.1109/CCTA48906.2021.9659043
Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the presence of Parametric Uncertainties E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and A.J. Sørensen Proc. 2021 American Control Conference Online/New Orleans, LA, May 26-28, 2021. DOI: 10.23919/ACC50511.2021.9483419
Neural Network-Based Model Predictive Control with Input-to-State Stability K. Seel, E.I. Grøtli, S. Moe, J.T. Gravdahl and K.Y. Pettersen Proc. 2021 American Control Conference Online/New Orleans, LA, May 26-28, 2021. DOI: 10.23919/ACC50511.2021.9483190
Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking of Underwater Vehicles E.A. Basso, H.M. Schmidt-Didlaukies and K.Y. Pettersen Proc. 59th IEEE Conference on Decision and Control, Online/Jeju Island, Republic of Korea, Dec. 8-11, 2020. DOI: 10.1109/CDC42340.2020.9304232
Vehicle Safety of the Velocity Obstacle Algorithm A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. 59th IEEE Conference on Decision and Control, Online/Jeju Island, Republic of Korea, Dec. 8-11, 2020. DOI: 10.1109/CDC42340.2020.9304208
Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents E.A. Basso, E. H. Thyri, K.Y. Pettersen, M. Breivik and R. Skjetne Proc. 4th IEEE Conference on Control Technology and Applications, Online/Montréal, Canada, August 24-26, 2020. DOI: 10.1109/CCTA41146.2020.9206276
Reactive collision avoidance for ASVs based on control barrier functions E.H. Thyri, E.A. Basso, M. Breivik, K.Y. Pettersen, R. Skjetne and A. Lekkas Proc. 4th IEEE Conference on Control Technology and Applications, Online/Montréal, Canada, August 24-26, 2020. DOI: 10.1109/CCTA41146.2020.9206340
MIMO Feedback Linearization of Redundant Robotic Systems using Task-Priority Operational Space Control E.A. Basso and K.Y. Pettersen Proc. 21st IFAC World Congress, Online/Berlin, Germany, July 12-17, 2020. DOI: 10.1016/j.ifacol.2020.12.1550
Economic model predictive control for obstacle-aided snake robot locomotion E. Müller, P.N. Köhler, K.Y. Pettersen and F. Allgöwer Proc. 21st IFAC World Congress, Online/Berlin, Germany, July 12-17, 2020. DOI: 10.1016/j.ifacol.2020.12.2622
Task-priority control of redundant robotic systems using control Lyapunov and control barrier function based quadratic programs E.A. Basso and K.Y. Pettersen Proc. 21st IFAC World Congress, Online/Berlin, Germany, July 12-17, 2020. DOI: 10.1016/j.ifacol.2020.12.2024
The generalized super-twisting algorithm with adaptive gains I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl Proc. European Control Conference 2020, Online/Saint Petersburg, Russia, May 12-15, 2020. | 2020 ECC Best Student Paper Award Finalist. DOI: 10.23919/ECC51009.2020.9143617
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV M. Wrzos-Kaminska, T. Mylvaganam, K.Y. Pettersen and J.T. Gravdahl Proc. European Control Conference 2020, Online/Saint Petersburg, Russia, May 12-15, 2020. DOI: 10.23919/ECC51009.2020.9143717
Economic model predictive control for snake robot locomotion M. Nonhoff, P.N. Köhler, A.M. Kohl, K.Y. Pettersen and F. Allgöwer Proc. 58th IEEE Conference on Decision and Control, Nice, France, Dec. 11-13, 2019. DOI: 10.1109/CDC40024.2019.9029627
Combined kinematic and dynamic control of an underwater swimming manipulator I.-L. G. Borlaug, J. Sverdrup-Thygeson, K.Y. Pettersen and J.T. Gravdahl Proc. 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles, Daejeon, Korea, Sep. 18-20, 2019. DOI: 10.1016/j.ifacol.2019.12.275
Path following control for articulated intervention-AUVs using geometric control of reduced attitude M. Wrzos-Kaminska, K.Y. Pettersen and J.T. Gravdahl Proc. 11th IFAC Symposium on Nonlinear Control Systems, Vienna, Austria, September 4-6, 2019. DOI: 10.1016/j.ifacol.2019.11.777
Tracking control of an articulated intervention-AUV in 6 DOF using the generalized super-twisting algorithm I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl Proc. 2019 American Control Conference, Philadelphia, PA, July 10-12, 2019. DOI: 10.23919/ACC.2019.8815093
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances W. Caharija, A.J. Sørensen, K.Y. Pettersen, Marilena Greco and J. T. Gravdahl Proc. 2019 European Control Conference, Naples, Italy, June 25-28, 2019. DOI: 10.23919/ECC.2019.8795998
A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles M. S. Wiig, K.Y. Pettersen and T. R. Krogstad Proc. 2018 IEEE Conference on Decision and Control, Miami, FL, Dec. 17-19, 2018. DOI: 10.1109/CDC.2018.8619685
Modeling of Articulated Underwater Robots for Simulation and Control H.M. Schmidt-Didlaukies, A.J. Sørensen and K.Y. Pettersen Proc. 2018 IEEE OES Autonomous Underwater Vehicle Symposium (AUV), Porto, Portugal, Nov. 6-9, 2018. DOI: 10.1109/AUV.2018.8729806
Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6DOF I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl Proc. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2018), Opatija, Croatia, Sep. 10-12, 2018, IFAC-PapersOnLine, Vol. 51, No. 29, pp. 311-316. DOI: 10.1016/j.ifacol.2018.09.506
Semiglobal Exponential Stability of a Counter-Current and Co-Current Guidance Scheme W. Caharija, E. Grøtli and K.Y. Pettersen Proc. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2018), Opatija, Croatia, Sep. 10-12, 2018, IFAC-PapersOnLine, Vol. 51, No. 29, pp. 274-280. DOI: 10.1016/j.ifacol.2018.09.515
A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles M. S. Wiig, K.Y. Pettersen and T. R. Krogstad Proc. 2018 IEEE Conference on Control Technology and Applications, Copenhagen, Denmark, Aug. 21-24, 2018. DOI: 10.1109/CCTA.2018.8511437
An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance M. S. Wiig, K.Y. Pettersen, E-L. M. Ruud and T. R. Krogstad Proc. 2018 European Control Conference, Limassol, Cyprus, June 12-15, 2018. DOI: 10.23919/ECC.2018.8550243
Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix M.F. Amundsen, J. Sverdrup-Thygeson, E. Kelasidi and K.Y. Pettersen Proc. 2018 European Control Conference, Limassol, Cyprus, June 12-15, 2018. DOI: 10.23919/ECC.2018.8550525
Vehicle Guidance with Control Action Computed by a Rao-Blackwellized Particle Filter A. Sans-Muntadas, E. Brekke and K.Y. Pettersen Proc. 2017 Asian Control Conference, Gold Coast, Australia, December 17-20, 2017. DOI: 10.1109/ASCC.2017.8287630
A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics M. S. Wiig, K.Y. Pettersen and T.R. Krogstad Proc. 56th IEEE Conference on Decision and Control, Melbourne, Australia, Dec. 12-15, 2017. DOI: 10.1109/CDC.2017.8263858
Set-based path following and obstacle avoidance for underwater snake robots A.M. Kohl, S. Moe, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 2017 IEEE Int. Conf. on Robotics and Biomimetics, Macau, China, Dec. 5-8, 2017. | IEEE-ROBIO Best Conference Paper Award. DOI: 10.1109/ROBIO.2017.8324582
Trajectory tracking for underwater swimming manipulators using a super twisting algorithm I.L. Borlaug, J.T. Gravdahl, J. Sverdrup-Thygeson and K.Y. Pettersen Proc. 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2017) Kyoto, Japan, Oct. 28-30, 2017
Learning an AUV docking maneuver with a convolutional neural network A. Sans-Muntadas, K.Y. Pettersen, E. Brekke and E. Kelasidi Proc. OCEANS ´17, Anchorage, AK, 18-22 Sep. 2017 Web: http://ieeexplore.ieee.org/document/8232326/
Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks J. Sverdrup-Thygeson, S. Moe, K.Y. Pettersen and J.T. Gravdahl Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. DOI: 10.1109/CCTA.2017.8062454
Velocity and orientation control of underwater snake robots using absolute velocity feedback A. Kohl, K.Y. Pettersen and J.T. Gravdahl Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. DOI: 10.1109/CCTA.2017.8062552
Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy M.R.P. Ragazzon, J.T. Gravdahl and K.Y. Pettersen Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. | IEEE CCTA 2017 Best Student Paper Award Finalist. DOI: 10.1109/CCTA.2017.8062542
Spiral path planning for docking of underactuated vehicles with limited FOV A. Sans-Muntadas, E. Kelasidi, K.Y. Pettersen and E. Brekke Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. DOI: 10.1109/CCTA.2017.8062549
Set-Based Line-of-Sight (LOS) Path Following with Collision Avoidance for Underactuated Unmanned Surface Vessels under the Influence of Ocean Currents S. Moe and K.Y. Pettersen Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. DOI: 10.1109/CCTA.2017.8062470
A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles M. S. Wiig, K.Y. Pettersen and A.V. Savkin Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. DOI: 10.1109/CCTA.2017.8062714
Modeling and Propulsion Methods of Underwater Snake Robots E. Kelasidi, K.Y. Pettersen, J.T. Gravdahl, S. Strømsøyen and A.J. Sørensen Proc. 1st IEEE Conference on Control Technology and Applications, Kohala Coast, Hawaii, Aug. 27-30, 2017. DOI: 10.1109/CCTA.2017.8062561
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach M. Maghenem, D.J.W. Belleter, C. Paliotta and K.Y. Pettersen Proc. 20th IFAC World Congress, Toulouse, France, 9-14 July, 2017. IFAC-PapersOnLine Vol. 50, No. 1, pp. 13654-13661. DOI: 10.1016/j.ifacol.2017.08.2399
Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin E. Kelasidi, K.Y. Pettersen, A.M. Kohl and J.T. Gravdahl Proc. 20th IFAC World Congress, Toulouse, France, 9-14 July, 2017. IFAC-PapersOnLine Vol. 50, No. 1, pp. 11182-11190. DOI: 10.1016/j.ifacol.2017.08.1242
Trajectory Tracking of Under-Actuated Marine Vehicles C. Paliotta, E. Lefeber and K.Y. Pettersen Proc. 55th Conference on Decision and Control, Las Vegas, NV, Dec. 12-14, 2016. DOI: 10.1109/CDC.2016.7799139
The Underwater Swimming Manipulator – A Bio-Inspired AUV J. Sverdrup-Thygeson, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 2016 IEEE OES Autonomous Underwater Vehicles, Tokyo, Japan, Nov. 6-8, 2016. DOI: 10.1109/AUV.2016.7778701
Locomotion Efficiency of Underwater Snake Robots with Thrusters E. Kelasidi, K.Y. Pettersen, P. Liljebäck and J.T. Gravdahl Proc. IEEE International Symposium on Safety, Security and Rescue Robotics, Lausanne, Switzerland, 23 – 27 October, 2016. DOI: 10.1109/SSRR.2016.7784295
A Hybrid Approach to Underwater Docking of AUVs with cross-current A. Sans-Muntadas, K.Y. Pettersen, E. Brekke and V.F. Henriksen Proc. Oceans 2016, Monterey, CA, 19-23 September, 2016. DOI: 10.1109/OCEANS.2016.7761213
Leader-Follower Synchronization with disturbance rejection C. Paliotta and K.Y. Pettersen Proc. 2016 IEEE Multi-Conference on Systems and Control, Buenos Aires, Argentina, 19-22 September, 2016, pp. 360-367. DOI: 10.1109/CCA.2016.7587858
A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs B.-O.H. Eriksen, M. Breivik, K.Y. Pettersen and M. S. Wiig Proc. 2016 IEEE Multi-Conference on Systems and Control, Buenos Aires, Argentina, 19-22 September, 2016, pp. 499-506. DOI: 10.1109/CCA.2016.7587879
A control framework for biologically inspired underwater swimming manipulators equipped with thrusters J. Sverdrup-Thygeson, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, Sep. 13-16, 2016. IFAC-PapersOnLine, Vol. 49, No. 23, pp 89-96. DOI: 10.1016/j.ifacol.2016.10.326
Integral Line-of-Sight Guidance of Underwater Vehicles without Neutral Buoyancy M.S. Wiig, W. Caharija, T. Krogstad and K.Y. Pettersen Proc. 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, Sep. 13-16, 2016. IFAC-PapersOnLine, Vol. 49, No. 23, pp 590-597. DOI: 10.1016/j.ifacol.2016.10.499
Vision Restricted Path Planning and Control for Underactuated Vehicles A. Sans-Muntadas, K.Y. Pettersen and E. Brekke Proc. 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, Sep. 13-16, 2016. IFAC-PapersOnLine, Vol. 49, No. 23, pp 199-206. DOI: 10.1016/j.ifacol.2016.10.343
Modeling of Underwater Swimming Manipulators J. Sverdrup-Thygeson, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 10th IFAC Conference on Control Applications in Marine Systems, Trondheim, Norway, Sep. 13-16, 2016. IFAC-PapersOnLine, Vol. 49, No. 23, pp 81-88. DOI: 10.1016/j.ifacol.2016.10.325
Path Following for Underactuated Marine Vessels D.J.W. Belleter, C. Paliotta, M. Maggiore and K.Y. Pettersen Proc. 10th IFAC Symposium on Nonlinear Control Systems, Monterey, CA, August 23-25, 2016. DOI: 10.1016/j.ifacol.2016.10.229
Nonlinear Tracking Control Control Scheme for a Nanopositioner M. Vagia, A.A. Eielsen, J.T. Gravdahl and K.Y. Pettersen Proc. 24th Mediterranean Conference on Control and Automation, Athens, Greece, June 21-24, 2016. DOI: 10.1109/MED.2016.7536016
Waypoint guidance control for underwater snake robots exposed to ocean currents E. Kelasidi, A.M. Kohl, K.Y. Pettersen and J.T. Gravdahl Proc. 24th Mediterranean Conference on Control and Automation, Athens, Greece, June 21-24, 2016. DOI: 10.1109/MED.2016.7535893
Set-Based Line-of-Sight (LOS) Path Following with Collision Avoidance for Underactuated Unmanned Surface Vessel S. Moe and K.Y. Pettersen Proc. 24th Mediterranean Conference on Control and Automation, Athens, Greece, June 21-24, 2016. DOI: 10.1109/MED.2016.7535964
Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents S. Moe, K.Y. Pettersen, T.I. Fossen and J.T. Gravdahl Proc. 24th Mediterranean Conference on Control and Automation, Athens, Greece, June 21-24, 2016. DOI: 10.1109/MED.2016.7536018
Geometric Path Following with Ocean Current Estimation for ASVs and AUVs C. Paliotta and K.Y. Pettersen Proc. 2016 American Control Conference, Boston, MA, July 6-8, 2016. DOI: 10.1109/ACC.2016.7526819
Stability analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework S. Moe, A. Teel, G. Antonelli and K.Y. Pettersen Proc. 54th IEEE Conference on Decision and Control, Osaka, Japan, December 15-18, 2015. DOI: 10.1109/CDC.2015.7402104
3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents D.J.W. Belleter and K.Y. Pettersen Proc. 54th IEEE Conference on Decision and Control, Osaka, Japan, December 15-18, 2015. DOI: 10.1109/CDC.2015.7402009
OpenMRH: a Modular Robotic Hand Generator Plugin for OpenRAVE F. Sanfilippo and K.Y. Pettersen Proc. 2015 IEEE International Conference on Robotics and Biomimetics, Zhuhai, China, December 6 – 9, 2015. DOI: 10.1109/ROBIO.2015.7407010
Experimental Results for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework S. Moe, G. Antonelli, K.Y. Pettersen and J. Schrimpf Proc. 2015 IEEE International Conference on Robotics and Biomimetics, Zhuhai, China, December 6 – 9, 2015. DOI: 10.1109/ROBIO.2015.7418940
Analysis of underwater snake robot locomotion based on a control-oriented model A. Kohl, K.Y. Pettersen E. Kelasidi and J.T. Gravdahl Proc. 2015 IEEE International Conference on Robotics and Biomimetics, Zhuhai, China, December 6 – 9, 2015. DOI: 10.1109/ROBIO.2015.7419055
A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment F. Sanfilippo, P.B.T. Weustink and K.Y. Pettersen Proc. 41st Annual Conference of the IEEE Industrial Electronics Society, Yokohama, Japan, Nov. 9-12, 2015. DOI: 10.1109/IECON.2015.7392094
A sensor fusion wearable health-monitoring system with haptic feedback F. Sanfilippo and K.Y. Pettersen Proc. 11th International Conference on Innovations in Information Technology (IIT'15), Dubai, UAE, November 01-03, 2015. DOI: 10.1109/INNOVATIONS.2015.7381551
Cross-Track Formation Control of Underactuated Bio-inspired Snake Robots E. Rezapour, K.Y. Pettersen, J.T. Gravdahl and A. Hofmann Proc. 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015) Kyoto, Japan, Oct. 28-30, 2015
Multi-objective optimization for efficient motion of underwater snake robots E. Kelasidi, M. Jesmani, K.Y. Pettersen and J.T. Gravdahl Proc. 1st International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2015) Kyoto, Japan, Oct. 28-30, 2015
A control-oriented model of underwater snake robots exposed to currents A.M. Kohl, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 2015 IEEE Multi-Conference on Systems and Control, Sydney, Australia, September 21-23, 2015, pp. 1585-1592. DOI: 10.1109/CCA.2015.7320836
Navigation and Probability Assessment for Successful AUV Docking using USBL A. Sans-Muntadas, E.F. Brekke, Ø. Hegrenæs and K.Y. Pettersen Proc. 10th IFAC Conference on Manoeuvring and Control of Marine Craft, Copenhagen, Denmark, August 24-26, 2015. IFAC-PapersOnline, Vol. 48, No. 16, pp. 204-209. DOI: 10.1016/j.ifacol.2015.10.281
A Comparison Between the ILOS Guidance and the Vector Field Guidance W. Caharija, K.Y. Pettersen, P. Calado and J. Braga Proc. 10th IFAC Conference on Manoeuvring and Control of Marine Craft, Copenhagen, Denmark, August 24-26, 2015. IFAC-PapersOnline, Vol. 48, No. 16, pp. 89-94. DOI: 10.1016/j.ifacol.2015.10.263
Adaptive Source Seeking with Leader-Follower Formation Control C. Paliotta, D.J.W. Belleter and K.Y. Pettersen Proc. 10th IFAC Conference on Manoeuvring and Control of Marine Craft, Copenhagen, Denmark, August 24-26, 2015. IFAC-PapersOnline, Vol. 48, No. 16, pp. 285-290 . DOI: 10.1016/j.ifacol.2015.10.294
Uniform Semiglobal Exponential Stability of Integral Line-of-Sight Guidance Laws M.S. Wiig, K.Y. Pettersen and T.R. Krogstad Proc. 10th IFAC Conference on Manoeuvring and Control of Marine Craft, Copenhagen, Denmark, August 24-26, 2015 IFAC-PapersOnline, Vol. 48, No. 16, pp. 61-68. DOI: 10.1016/j.ifacol.2015.10.259
Energy efficiency of underwater robots E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 10th IFAC Conference on Manoeuvring and Control of Marine Craft, Copenhagen, Denmark, August 24-26, 2015. IFAC-PapersOnline, Vol. 48, No. 16, pp. 152-159. DOI: 10.1016/j.ifacol.2015.10.273
Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents D.J.W. Belleter and K.Y. Pettersen Proc. 2015 European Control Conference, Linz, Austria, July 15 – 17, 2015. DOI: 10.1109/ECC.2015.7330675
Source Seeking With a Variable Leader Multi-Agent Fixed Topology Network C. Paliotta and K.Y. Pettersen Proc. 2015 European Control Conference, Linz, Austria, July 15 – 17, 2015. DOI: 10.1109/ECC.2015.7330672
Underactuated Leader-Follower Synchronisation for Multi-Agent Systems D.J.W. Belleter and K.Y. Pettersen Proc. 2015 American Control Conference, Chicago, IL, July 1 – 3, 2015. DOI: 10.1109/ACC.2015.7171808
Topography and Force Imaging in Atomic Force Microscopy by State and Parameter Estimation M.R.P. Ragazzon, J.T. Gravdahl, K.Y. Pettersen and A.A. Eielsen Proc. 2014 American Control Conference, Chicago, IL, July 1 – 3, 2015. DOI: 10.1109/ACC.2015.7171872
Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics G. Antonelli, S. Moe and K.Y. Pettersen Proc. 23rd Mediterranean Conference on Control and Automation, Meliá Costa del Sol, Torremolinos, Spain, June 16-19, 2015. DOI: 10.1109/MED.2015.7158902
Energy efficiency of underwater snake robot locomotion E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 23rd Mediterranean Conference on Control and Automation, Meliá Costa del Sol, Torremolinos, Spain, June 16-19, 2015. DOI: 10.1109/MED.2015.7158907
XBee positioning system with embedded haptic feedback for dangerous offshore operations: a preliminary study F. Sanfilippo and K.Y. Pettersen Proc. MTS/IEEE Oceans ´15, Genova, Italy, May 18-21, 2015. DOI: 10.1109/OCEANS-Genova.2015.7271241
A Wave Simulator and Active Heave Compensation Framework for Demanding Offshore Crane Operations F. Sanfilippo, L.I. Hatledal, H. Zhang, W. Rekdalsbakken and K.Y. Pettersen Proc. 2015 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE 2015), Halifax, Nova Scotia Canada, May 3-6, 2015. DOI: 10.1109/CCECE.2015.7129518
The New Architecture of ModGrasp for Mind-Controlled Low-Cost Sensorised Modular Hands F. Sanfilippo, H. Zhang and K.Y. Pettersen Proc. 2015 IEEE International Conference on Industrial Technology, Sevilla, Spain, March 17-19, 2015. DOI: 10.1109/ICIT.2015.7125152
Path Following for Formations of Underactuated Marine Vessels under Influence of Constant Ocean Currents D.J.W. Belleter and K.Y. Pettersen Proc. 53rd IEEE Conference on Decision and Control, Los Angeles, CA, Dec. 15 – 17, 2014. DOI: 10.1109/CDC.2014.7040095
Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints A. Mohammadi, E. Rezapour, M. Maggiore and K.Y. Pettersen Proc. 53rd IEEE Conference on Decision and Control, Los Angeles, CA, Dec. 15 – 17, 2014. DOI: 10.1109/CDC.2014.7039981
Maneuvering Control of Planar Snake Robots E. Rezapour, A. Hofmann and K.Y. Pettersen Proc. 2014 International Conference on Robotics and Biomimetics (ROBIO 2014), Bali, Indonesia, Dec. 5-10, 2014. DOI: 10.1109/ROBIO.2014.7090388
A control-oriented model of underwater snake robots E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 2014 International Conference on Robotics and Biomimetics (ROBIO 2014), Bali, Indonesia, Dec. 5-10, 2014. DOI: 10.1109/ROBIO.2014.7090422
Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 2014 International Conference on Robotics and Biomimetics (ROBIO 2014), Bali, Indonesia, Dec. 5-10, 2014. DOI: 10.1109/ROBIO.2014.7090392
Null-space-based behavior guidance of planar dual-arm UVMS S. Moe, G. Antonelli and K.Y. Pettersen Proc. 2014 International Conference on Robotics and Biomimetics (ROBIO 2014), Bali, Indonesia, Dec. 5-10, 2014. DOI: 10.1109/ROBIO.2014.7090419
Virtual Holonomic Constraint Based Direction Following Control of Planar Snake Robots Described by a Simplified Model E. Rezapour, A. Hofmann, K.Y. Pettersen, A. Mohammadi and M. Maggiore Proc. 2014 IEEE Conference on Control Applications, Nice/Antibes, France, Oct. 8-10, 2014. DOI: 10.1109/CCA.2014.6981476
Integral Line-of-Sight for path-following of underwater snake robots E. Kelasidi, K.Y. Pettersen, P. Liljebäck and J.T. Gravdahl Proc. 2014 IEEE Multi-Conference on Systems and Control, Nice/Antibes, France, Oct. 8-10, 2014, pp. 1078-1085. DOI: 10.1109/CCA.2014.6981478
Fast Dual-Arm Manipulation using Variable Admittance Control: Implementation and Experimental Results M. Bjerkeng, J. Schrimpf, T. Myhre and K.Y. Pettersen Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, Sept. 14–18, 2014, pp. 4728 - 4734. DOI: 10.1109/IROS.2014.6943235
Mamba – A Waterproof Snake Robot with Tactile Sensing P. Liljebäck, Ø. Stavdahl, K. Y. Pettersen and J.T. Gravdahl Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, Sept. 14–18, 2014, pp. 294 - 301. DOI: 10.1109/IROS.2014.6942575
A 3D Motion Planning Framework for Snake Robots P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, Sept. 14–18, 2014, pp. 1100 - 1107. DOI: 10.1109/IROS.2014.6942695
Modelling of underwater snake robots moving in a vertical plane in 3D E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, Sept. 14–18, 2014, pp. 266-273. DOI: 10.1109/IROS.2014.6942571
Improved Counter-Current and Co-Current Guidance of Underactuated Marine Vehicles with Semiglobal Stability Properties W. Caharija, E. Grøtli and K.Y. Pettersen Proc. 19th IFAC World Congress, Cape Town, South Africa, 24-29 Aug. 2014, pp. 12166-1217.3 DOI: 10.3182/20140824-6-ZA-1003.01980
ILOS Guidance - Experiments and Tuning M. Bibuli, W. Caharija, K.Y. Pettersen, G. Bruzzone and M. Caccia Proc. 19th IFAC World Congress, Cape Town, South Africa, 24-29 Aug. 2014, pp. 4209-4214. DOI: 10.3182/20140824-6-ZA-1003.01622
ModGrasp: an Open-Source Rapid-Prototyping Framework for Designing Low-Cost Sensorised Modular Hands F. Sanfilippo, H. Zhang, K.Y. Pettersen, G. Salviettei and D. Prattichizzo Proc. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), São Paulo, Brazil, Aug. 12-15, 2014, pp. 951 - 957. | IEEE-ROBIO 2014 Best Student Paper Award Finalist. DOI: 10.1109/BIOROB.2014.6913903
Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots E. Rezapour, K.Y. Pettersen, J. T. Gravdahl and P. Liljebäck Proc. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), São Paulo, Brazil, Aug. 12-15, 2014. DOI: 10.1109/BIOROB.2014.6913910
A Mapping Approach for Controlling Different Maritime Cranes and Robots using ANN F. Sanfilippo, L.I. Hatledal, H. Zhang and K.Y. Pettersen Proc. IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, August 3-6, 2014, pp. 594 - 599. DOI: 10.1109/ICMA.2014.6885764
JOpenShowVar: an Open-Source Cross-Platform Communication Interface to Kuka Robots F. Sanfilippo, M. Fago, L.I. Hatledal, K.Y. Pettersen and H. Zhang Proc. IEEE International Conference on Information and Automation & IEEE International Conference on Automation and Logistics, Hailar, Hulun Buir, Inner Mongolia, China, July 26-29, 2014, pp. 1154 - 1159. | IEEE ICIA2014 Best Student Paper Award. DOI: 10.1109/ICInfA.2014.6932823
A waypoint guidance strategy for underwater snake robots E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Proc. 22nd Mediterranean Conference on Control and Automation, Palermo, Italy, June 16-19, 2014, pp. 1512 - 1519. DOI: 10.1109/MED.2014.6961590
Path Following of Underactuated Underwater Vehicles in the Presence of Unknown Ocean Currents S. Moe, W. Caharija, K.Y. Pettersen and I. Schjølberg Proc. 33th International Conference on Ocean, Offshore and Arctic Engineering San Fransisco, CA, June 8-13, 2014
Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents S. Moe, W. Caharija, K.Y. Pettersen and I. Schjølberg Proc. 2014 American Control Conference, Portland, Oregon, June 4-6, 2014. DOI: 10.1109/ACC.2014.6858984
Compliant Control of the Body Shape of Snake Robots P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl Proc. IEEE International Conference on Robotics and Automation, Hong Kong, China, 31 May – 5 June, 2014, pp. 4548 - 4555. DOI: 10.1109/ICRA.2014.6907523
Modeling of Underwater Snake Robots E. Kelasidi, K.Y. Pettersen, J.T. Gravdahl and P. Liljebäck Proc. IEEE International Conference on Robotics and Automation, Hong Kong, China, 31 May – 5 June, 2014, pp. 4540 - 4547. DOI: 10.1109/ICRA.2014.6907522
Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques E. Rezapour, K.Y. Pettersen, P. Liljebäck and J.T. Gravdahl Proc. IEEE International Conference on Robotics and Automation, Hong Kong, China, 31 May – 5 June, 2014, pp. 4532 - 4539. DOI: 10.1109/ICRA.2014.6907521
A Universal Control Architecture for Maritime Cranes and Robots using Genetic Algorithms as a Possible Mapping Approach F. Sanfilippo, L.I. Hatledal, H.G. Schaathun, K.Y. Pettersen and H.Zhang Proc. IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, 12-14 Dec. 2013, pp. 322-327. DOI: 10.1109/ROBIO.2013.6739479
Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints E. Rezapour, K.Y. Pettersen, P. Liljebäck and J.T. Gravdahl Proc. 2013 IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, 12-14 Dec. 2013, pp. 530-537. | IEEE-ROBIO 2013 Best Student Paper Award Finalist. DOI: 10.1109/ROBIO.2013.6739514
Discrete-Time Stability Analysis of a Motion Control Architecture for Heterogeneous Robotic Systems M Bjerkeng, P. Falco, C. Natale and K.Y. Pettersen Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 3-7 Nov. 2013. DOI: 10.1109/IROS.2013.6697045
Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results W. Caharija, K.Y. Pettersen and J.T. Gravdahl Proc. 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, Sep. 17-20, 2013. DOI: 10.3182/20130918-4-JP-3022.00043
Snake Robots - From Biology to Nonlinear Control K.Y. Pettersen, P. Liljebäck, Ø. Stavdahl and J.T. Gravdahl Semi-Plenary paper at IFAC Symposium on Nonlinear Control, Toulouse, France, September 4-6, 2013. DOI: 10.3182/20130904-3-FR-2041.00062
Design of a nonlinear damping control scheme for nanopositioning M. Vagia, A.A. Eielsen, J.T. Gravdahl and K.Y. Pettersen in Proc. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013), Wollongong, Australia, July 9-12, 2013. DOI: 10.1109/AIM.2013.6584074
Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles W. Caharija, K.Y. Pettersen and J.T. Gravdahl in Proc. 2013 IFAC Intelligent Autonomous Vehicles Symposium, Gold Coast, Australia, 26-28 June, 2013. DOI: 10.3182/20130626-3-AU-2035.00036
Path Following of Marine Surface Vessels with Saturated Transverse Actuators W. Caharija, K.Y. Pettersen and J.T. Gravdahl in Proc. 2013 American Control Conference, Washington, DC, June 17-19, 2013 https://doi.org/10.1109/ACC.2013.6579894
Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning A.A. Eielsen, M. Vagia, J.T. Gravdahl and K.Y. Pettersen in Proc. 6th IFAC Symposium on Mechatronic Systems (Mechatronics '13), Hangzhou, China, April 10-12, 2013. DOI: 10.3182/20130410-3-CN-2034.00026
Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot C. Holden, K.Y. Pettersen, Ø. Stavdahl, J.T. Gravdahl in Proc. 2013 IEEE International Conference on Mechatronics (ICM 2013), Vicenza, Italy, Feb. 27 - March 1, 2013 DOI: 10.1109/ICMECH.2013.6518553
Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents W. Caharija, K.Y. Pettersen, J.T. Gravdahl and E. Børhaug in Proc. 51st IEEE Conference on Decision and Control, Maui, Hawaii, Dec. 2012, pp. 528-535. DOI: 10.1109/CDC.2012.6427007
A Control Framework for Snake Robot Locomotion based on Shape Control Points Interconnected by Bézier Curves P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 3111-3118. DOI: 10.1109/IROS.2012.6386117
A Modular and Waterproof Snake Robot Joint Mechanism with a Novel Force/Torque Sensor P. Liljebäck, Ø. Stavdahl, K.Y. Pettersen and J.T. Gravdahl in Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 4898-4905. DOI: 10.1109/IROS.2012.6386115
Relative Velocity Control and Integral LOS for Path Following of Underactuated Surface Vessels W. Caharija, M. Candeloro, K.Y. Pettersen and A.J. Sørensen in Proc. 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, Sep. 2012. | MCMC 2012 Best Student Paper Award. DOI: 10.3182/20120919-3-IT-2046.00065
Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents W. Caharija, K.Y. Pettersen, J.T. Gravdahl and E. Børhaug in Proc. American Control Conference, Montréal, Canada, June 2012, pp. 5427-5434 DOI: 10.1109/ACC.2012.6315607
A new Coriolis matrix factorization M. Bjerkeng and K.Y. Pettersen in Proc. IEEE International Conference on Robotics and Automation, RiverCentre, Saint Paul, Minnesota, May 14-18, 2012, pp. 4974-4979. DOI: 10.1109/ICRA.2012.6224820
Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles W. Caharija, K.Y. Pettersen, J.T. Gravdahl and A.J. Sørensen in Proc. the IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV2012), Porto, Portugal, April 10-12, 2012. DOI: 10.3182/20120410-3-PT-4028.00031
Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results M. Bjerkeng, A.A. Transeth, K.Y. Pettersen, E. Kyrkjebø and S.A. Fjerdingen in Proc. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011, pp. 247-254. | IROS 2011 Best Application Paper Award Finalist DOI: 10.1109/IROS.2011.6048459
Stereographic Projection for Industrial Manipulator Tasks: Theory and Experiments M. Bjerkeng, K.Y. Pettersen and E. Kyrkjebø in Proc. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011, pp. 4676-4683. DOI: 10.1109/IROS.2011.6095148
PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning A. A. Eielsen, M. Burger, J.T. Gravdahl and K.Y. Pettersen in Proc. 18th IFAC World Congress, Milano, 28 Aug – 2 Sep, 2011. DOI: 10.3182/20110828-6-IT-1002.01401
Path following control of snake robots in unstructured environments P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. IEEE Conference on Robotics and Automation, Shanghai,China, May 9-13, 2011, pp. 503 - 510. DOI: 10.1109/ICRA.2011.5979566
Waypoint guidance control of snake robots P. Liljebäck and K.Y. Pettersen in Proc. IEEE Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011, pp. 937 - 944. DOI: 10.1109/ICRA.2011.5979565
Path following control of planar snake robots using a cascaded approach P. Liljebäck, I.U. Haugstuen and K.Y. Pettersen in Proc. IEEE Conference on Decision and Control, Atlanta, Georgia, December 15-17, 2010. DOI: 10.1109/CDC.2010.5717823
Stability analysis of snake robot locomotion based on averaging theory P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. IEEE Conference on Decision and Control, Atlanta, Georgia, December 15-17, 2010. DOI: 10.1109/CDC.2010.5717822
Curved Trajectory Tracking for Surface Vessel Formations M. Burger and K.Y. Pettersen in Proc. IEEE Conference on Decision and Control, Atlanta, Georgia, December 15-17, 2010. DOI: 10.1109/CDC.2010.5716946
Experimental investigation of a path following controller for planar snake robots P. Liljebäck, I.U. Haugstuen and K.Y. Pettersen in Proc. 11th International Conference on Control, Automation, Robotics and Vision (ICARCV), 7 - 10 December 2010, Singapore. | ICARCV 2010 Best Paper Award Finalist DOI: 10.1109/ICARCV.2010.5707242
Experimental investigation of fundamental properties of snake robot locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. the 11th International Conference on Control, Automation, Robotics and Vision (ICARCV), 7 - 10 December 2010, Singapore. DOI: 10.1109/ICARCV.2010.5707241
Fundamental properties of snake robot locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010, pp. 2876-2883 DOI: 10.1109/IROS.2010.5649099
A simplified model of planar snake robot locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010, pp. 2868-2875. DOI: 10.1109/IROS.2010.5649110
A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators P. J. From, K. Y. Pettersen and J. T. Gravdahl in Proc.61st International Astronautical Congress, Prague, Czech Republic, Sep 27 – October 1, 2010. DOI:
Tracking Control for a Piezoelectric Nanopositioner using Estimated States and a Feedforward compensation of Hysteresis A.A. Eielsen, J.T. Gravdahl, K.Y. Pettersen and L. Vogl in Proc. 5th IFAC Symposium on Mechatronic Systems, Sep. 2010, Cambridge, Massachusetts. DOI: 10.3182/20100913-3-US-2015.00106
Smooth Transitions Between Trajectory Tracking and Path Following for Single Vehicles and Formations M. Burger and K.Y. Pettersen in Proc. 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, (NecSys'10), Annecy, France Sep. 2010. DOI: 10.3182/20100913-2-FR-4014.00022
On the boundedness and skew-symmetric properties of the inertia and Coriolis matrices for vehicle-manipulator systems P. J. From, I. Schjølberg, J.T. Gravdahl, K.Y. Pettersen and T.I. Fossen in Proc. 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, Sep. 2010. DOI: 10.3182/20100906-3-IT-2019.00035
Singularity-Free Dynamic Equations of AUV-Manipulator Systems P. J. From, K. Y. Pettersen and J. T. Gravdahl in Proc. 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, September 6 – 8, 2010. DOI: 10.3182/20100906-3-IT-2019.00008
Curved Trajectory Tracking for Surface Vessels under Constant External Disturbances M. Burger, A. Pavlov and K.Y. Pettersen in Proc. 7th Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, September 6 – 8, 2010 DOI: 10.3182/20100906-3-IT-2019.00081
A snake robot with a contact force measurement system for obstacle-aided locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010, pp. 683-690. DOI: 10.1109/ROBOT.2010.5509839
A hybrid model of obstacle-aided snake robot locomotion P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010, pp. 675-682. DOI: 10.1109/ROBOT.2010.5509834
Trajectory Tracking for Marine Vehicles under Constant Disturbances M. Burger and K.Y. Pettersen in Proc. Oceans’10, Sydney, Australia, May 2010, pp. 1-6. DOI: 10.1109/OCEANSSYD.2010.5603533
Controllability analysis of planar snake robots influenced by viscous ground friction P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc.2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St Louis, Missouri, USA, Oct. 11-15, 2009, pp. 3615-3622. DOI: 10.1109/IROS.2009.5354676
Stability analysis of snake robot locomotion based on Poincaré maps P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl in Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), St Louis, Missouri, USA, Oct. 11-15, 2009. DOI: 10.1109/IROS.2009.5354688
Conditional Integrators for Path Following and Formation Control of Marine Vessels under Constant Disturbances M. Burger, A. Pavlov and K.Y. Pettersen in Proc. 8th Conference on Manoeuvring and Control of Marine Craft, MCMC2009, Guarujá, Brazil, Sep. 16-18, 2009. DOI: 10.3182/20090916-3-BR-3001.00027
A Kinematic versus Dynamic Observer Approach to Coordination Control in terms of Estimation Principle and Practical Performance E. Kyrkjebø and K.Y. Pettersen in Proc. European Control Conference, Budapest, Hungary, August 23 – 26, 2009. DOI:
Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Ocean Currents M. Burger, A. Pavlov, E. Børhaug and K.Y. Pettersen in Proc. 2009 American Control Conference, St. Louis, Missouri, June 10 – 12, 2009, pp. 3065-3070. DOI: 10.1109/ACC.2009.5160422
Maritime Surveillance and Monitoring using Autonomous Vehicles with Conditional Integrator-based Control M. Burger, A. Pavlov and K.Y. Pettersen in Proc. OCEANS’09, Bremen, Germany, 11-14 May, 2009. DOI: 10.1109/OCEANSE.2009.5278240
Modelling and control of obstacle-aided snake robot locomotion based on jam resolution P. Liljebäck, K.Y. Pettersen and Ø. Stavdahl in Proc. 2009 IEEE International Conference on Robotics and Automation (ICRA2009), Kobe, Japan, May 12 - 17, 2009, pp. 3807-3814. DOI: 10.1109/ROBOT.2009.5152273
A snake robot joint mechanism with a contact force measurement system P. Liljebäck, S. Fjerdingen, K.Y. Pettersen and Ø. Stavdahl in Proc. 2009 IEEE International Conference on Robotics and Automation (ICRA2009), Kobe, Japan, May 12 - 17, 2009, pp. 3815-3820. DOI: 10.1109/ROBOT.2009.5152276
Integral LOS Control for Path Following of Underactuated Marine Surface Vessels in the Presence of Constant Ocean Currents E. Børhaug, A. Pavlov and K.Y. Pettersen in Proc. 47th IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 9-11, 2008, pp. 4984-4991. DOI: 10.1109/CDC.2008.4739352
Global Uniform Asymptotic Lyapunov Stabilization of a Vectorial Chained-Form System with a Smooth Time-Varying Control Law C. Holden and K.Y.Pettersen in Proc. 47th IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 9-11, 2008, pp. 640 – 645. DOI: 10.1109/CDC.2008.4739321
Straight Line Path Following for Formations of Underactuated Underwater Vehicles E. Børhaug, A. Pavlov and K.Y. Pettersen in Proc. 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, Dec. 12-14, 2007, pp. 2905 - 2912. DOI: 10.1109/CDC.2007.4434733
Stable inversion of non-minimum phase nonlinear systems: a convergent systems approach A. Pavlov and K.Y. Pettersen in Proc. 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, Dec. 12-14, 2007, pp. 3995 - 4000. DOI: 10.1109/CDC.2007.4434276
Operational space synchronization of two robot manipulators through a virtual velocity estimate E. Kyrkjebø and K.Y. Pettersen in Proc. 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, Dec. 12-14, 2007, pp. 1052 - 1057. DOI: 10.1109/CDC.2007.4434605
Tracking control for snake robot joints A. A. Transeth, N. van de Wouw, A. Pavlov, J.P. Hespanha and K.Y. Pettersen in Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, Oct. 29 – Nov. 2, 2007, pp. 3539-3546. DOI: 10.1109/IROS.2007.4399174
Snake Robot Obstacle Aided Locomotion: An experimental validation of a non-smooth modelling approach A. A. Transeth, P. Liljebäck and K.Y. Pettersen in Proc. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, Oct. 29 – Nov. 2, 2007, pp. 2582-2589. DOI: 10.1109/IROS.2007.4399175
Robust globally exponentially stabilizing control law for fully actuated 6-DOF AUVs C. Holden and K.Y. Pettersen in Proc. IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, Sep. 19-21, 2007. DOI: 10.3182/20070919-3-HR-3904.00060
A model-based ocean current observer for 6DOF underwater vehicles E. Børhaug, L. Pivano, K.Y. Pettersen and T.A. Johansen in Proc. IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, Sep. 19-21, 2007. DOI: 10.3182/20070919-3-HR-3904.00031
Objective directed control using local minimisation for an autonomous underwater vehicle L. Alminde, J.D. Bendtsen, J. Stoustrup and K.Y. Pettersen in Proc. the 6th IFAC Symposium on Intelligent Autonomous Vehicles, Toulouse, France, Sep 3-5, 2007. DOI: 10.3182/20070903-3-FR-2921.00015
Straight line path following for formations of underactuated surface vessels A. Pavlov, E. Børhaug, E. Panteley and K.Y. Pettersen in Proc. IFAC Symposium on Nonlinear Control, Pretoria, South Africa, August 22-24, 2007. DOI: 10.3182/20070822-3-ZA-2920.00086
A new perspective on stable inversion of non-minimum phase nonlinear systems A. Pavlov and K.Y. Pettersen in Proc. IFAC Symposium on Nonlinear Control, Pretoria, South Africa, August 22-24, 2007, DOI: 10.3182/20070822-3-ZA-2920.00087
Leader-Follower Output Reference State Feedback Synchronization Control of Euler-Lagrange Systems E. Kyrkjebø and K.Y. Pettersen in Proc.15th Mediterranean Conference on Control and Automation, Athens, Greece, June 27-29, 2007, pp. 1 - 6. DOI: 10.1109/MED.2007.4433789
A 6 DOF nonlinear observer for AUVs with experimental results J. Refsnes, A.J. Sørensen and K.Y. Pettersen in Proc. 15th Mediterranean Conference on Control and Automation, June 27-29, 2007, Athens, Greece, pp. 1 - 7. DOI: 10.1109/MED.2007.4433891
Output feedback control of an AUV with experimental results J. Refsnes, A.J. Sørensen and K.Y. Pettersen in Proc. 15th Mediterranean Conference on Control and Automation, June 27-29, 2007, Athens, Greece, pp. 1 - 8. DOI: 10.1109/MED.2007.4433901
Non-smooth 3D modelling of a snake robot with external obstacles A.A. Transeth, R.I Leine, C. Glocker and K.Y. Pettersen in Proc. IEEE International Conference on Robotics and Biomimetics, Kunming, China, December 17-20, 2006, pp. 1189-1196. DOI: 10.1109/ROBIO.2006.340097
Non-smooth 3D modelling of a snake robot with frictional unilateral constraints A.A. Transeth, R.I Leine, C. Glocker and K.Y. Pettersen in Proc. IEEE International Conference on Robotics and Biomimetics, Kunming, China, December 17-20, 2006, pp. 1181-1188. DOI: 10.1109/ROBIO.2006.340096
A virtual vehicle approach to output synchronization control E. Kyrkjebø and K.Y. Pettersen in Proc. 45th IEEE Conference on Decision and Control, December 13-15 2006, San Diego, California, pp. 6016-6021. DOI: 10.1109/CDC.2006.377082
Formation control of 6-DOF Euler-Lagrange systems with restricted inter-vehicle communication E. Børhaug and K.Y. Pettersen in Proc. 45th IEEE Conference on Decision and Control, December 13-15 2006, San Diego, California , pp. 5718-5723. DOI: 10.1109/CDC.2006.377680
Cross-track formation control of underactuated surface vessels E. Børhaug, A. Pavlov and K.Y.Pettersen in Proc. 45th IEEE Conference on Decision and Control, December 13-15 2006, San Diego, California, pp. 5955-5961. DOI: 10.1109/CDC.2006.377687
Control of slender body underactuated AUVs with current estimation J. Refsnes, K. Y. Pettersen and A.J. Sørensen in Proc. 45th IEEE Conference on Decision and Control, December 13-15 2006, San Diego, California , pp. 43-50. DOI: 10.1109/CDC.2006.376984
Output tracking control of PWA systems N. Van de Wouw, A. Pavlov, K.Y. Pettersen and H. Nijmeijer in Proc. 45th IEEE Conference on Decision and Control, December 13-15 2006 , San Diego, California , pp. 2637-2642. DOI: 10.1109/CDC.2006.377028
Developments in Snake Robot Modeling and Locomotion A.A. Transeth and K.Y. Pettersen in Proc. International Conference on Control, Automation, Robotics and Vision, Singapore , Dec. 5-9, 2006, pp. 1-8. DOI: 10.1109/ICARCV.2006.345142
Robust observer design for underwater vehicles J. Refsnes, A.J. Sørensen and K.Y. Pettersen in Proc. IEEE Conference on Control Applications, October 4-6 2006, Munich, Germany, pp. 313-319. DOI: 10.1109/CACSD-CCA-ISIC.2006.4776665
Leader-Follower dynamic synchronization of surface vessels E. Kyrkjebø and K.Y. Pettersen in Proc. 7th IFAC Conference on Maneouvring and Control of Marine Craft September 20-22 2006, Lisbon, Portugal NTNU Open: hdl.handle.net/11250/3126539
Formation control of underactuated marine vehicles with communication constraints E. Børhaug, R. Ghabcheloo, A. Pavlov, K.Y. Pettersen, A. Pascoal and C. Silvestre in Proc. 7th IFAC Conference on Maneouvring and Control of Marine Craft September 20-22 2006, Lisbon, Portugal NTNU Open: hdl.handle.net/11250/3122083
LOS path following for underactuated underwater vehicles E. Børhaug and K.Y. Pettersen in Proc. 7th IFAC Conference on Maneouvring and Control of Marine Craft September 20-22 2006, Lisbon, Portugal NTNU Open: hdl.handle.net/11250/3122306
Observer design for underwater vehicles with position and angle measurement J. Refsnes, K. Y. Pettersen and A.J. Sørensen in Proc. 7th IFAC Conference on Maneouvring and Control of Marine Craft September 20-22 2006, Lisbon, Portugal NTNU Open: hdl.handle.net/11250/3122868
Weather optimal dynamic positioning of underactuated AUVs using output feedback control J. Refsnes, A.J. Sørensen and K.Y. Pettersen in Proc. 7th IFAC Conference on Maneouvring and Control of Marine Craft September 20-22 2006, Lisbon, Portugal NTNU Open: hdl.handle.net/11250/3122984
An optimal guidance scheme for cross-track control of underactuated underwater vessels E. Børhaug, K.Y.Pettersen and A. Pavlov Proc. 14th Mediterranean Conference on Control and Automation, Ancona, June 28-30, 2006, pp. 1-5. DOI: 10.1109/MED.2006.328732
A simulation game for nonlinear control theory education R. Haugom, O.K. Solbjørg, K.Y. Pettersen and T.I. Eikaas in Proc. IFAC Symposium on Advances in Control Education, Madrid, Spain, June 21-23, 2006. DOI: 10.3182/20060621-3-ES-2905.00096
A UGAS Observer for n-DOF Euler-Lagrange Systems E. Børhaug and K.Y.Pettersen Proc. American Control Conference, Durham, Minneapolis, Minnesota USA , June 14-16, 2006, pp. 4031-4036. DOI: 10.1109/ACC.2006.1657349
Global Output Feedback PID Control for n-DOF Euler Lagrange Systems E. Børhaug and K.Y.Pettersen Proc. American Control Conference, Durham, Minneapolis, Minnesota USA , June 14-16, 2006, pp. 4993-4999. DOI: 10.1109/ACC.2006.1657512
Output synchronization control for Euler-Lagrange systems with nonlinear damping terms E. Kyrkjebø and K.Y. Pettersen in Proc. 44th IEEE Conference on Decision and Control, Seville, Spain, Dec. 12-15, 2005, pp. 4951 - 4957. DOI: 10.1109/CDC.2005.1582946
Adaptive way-point tracking control for underactuated autonomous vehicles E. Børhaug and K.Y. Pettersen in Proc. 44th IEEE Conference on Decision and Control, Seville, Spain, Dec. 12-15, 2005, pp. 4028 - 4034. DOI: 10.1109/CDC.2005.1582792
Cross-track control for underactuated autonomous vehicles E. Børhaug and K.Y. Pettersen in Proc. 44th IEEE Conference on Decision and Control, Seville, Spain, Dec. 12-15, 2005, pp. 602 - 608. DOI: 10.1109/CDC.2005.1582222
Leader/Follower synchronization of satellite attitude without angular velocity measurements A.K. Bondhus, K.Y. Pettersen and J.T. Gravdahl in Proc. 44th IEEE Conference on Decision and Control, Seville, Spain, Dec. 12-15, 2005, pp. 7270 - 7277. DOI: 10.1109/CDC.2005.1583334
Control of ship replenishment by output feedback synchronization A.K. Bondhus and K.Y. Pettersen OCEANS 2005 Americas MTS/IEEE Conference, Washington, D.C, September 19-23, 2005, pp. 1610-1617. DOI: 10.1109/OCEANS.2005.1639986
Design of output-feedback control system for high speed maneuvering of an underwater vehicle J. Refsnes, A. Sørensen and K.Y. Pettersen in Proc. OCEANS 2005 Americas MTS/IEEE Conference, Washington D.C. September 19-23, 2005, pp. 1167-1174. DOI: 10.1109/OCEANS.2005.1639913
Cross-track control for autonomous underwater vehicles E. Børhaug and K.Y.Pettersen Proc. International Symposium on Unmanned Untethered Submersible Technology Durham, New Hampshire, USA, Aug. 21-24, 2005
Tracking from a synchronization control perspective E. Kyrkjebø and K.Y.Pettersen Proc. 17th IMACS World Congress Paris, July 2005
Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control P. Liljebäck, Ø. Stavdahl and K.Y. Pettersen Proc. IFAC World Congress, Prague, Czech Republic, July 2005. DOI: 10.3182/20050703-6-CZ-1902.01274
Master-slave synchronization of robot manipulators: Experimental results A.K. Bondhus, K.Y. Pettersen and H. Nijmeijer Proc. 16th IFAC World Congress, Prague, Czech Republic, July 2005. DOI: 10.3182/20050703-6-CZ-1902.01331
Motion damping control of process equipment on a floating LNG barge A.M. Rustad, A.J. Sørensen, K.Y. Pettersen and J.M. Godhavn Proc. 6th European Conference on Structural Dynamics Paris, France, September 2005
Global K-exponential way-point manoeuvring of ships E. Fredriksen and K.Y. Pettersen Proc. 43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas Dec. 2004, pp. 5360-5367. DOI: 10.1109/CDC.2004.1429660
Master-slave synchronization of robot manipulators A.K. Bondhus, K.Y. Pettersen and H. Nijmeijer Proc. 2004 IFAC Symposium on Nonlinear Control Systems Design Stuttgart, Germany, September 2004, pp. 614-619
Experimental results on synchronization control of ship rendez-vous operations E. Kyrkjebø, M. Wondergem, K.Y. Pettersen and H. Nijmeijer Proc. IFAC Conference on Control Applications in Marine System Ancona, Italy, 2004, pp. 453-458
MVT: A Marine Visualization Toolbox for MATLAB® A. L. Danielsen, E. Kyrkjebø and K.Y. Pettersen Proc. IFAC Conference on Control Applications in Marine System Ancona, Italy , 2004, pp. 515-519
Ship Replenishment using Synchronization Control E. Kyrkjebø and K.Y. Pettersen in Proc. 6th Conference on Manoeuvring and Control of Marine Crafts Girona, Spain, Sep. 17-19, 2003
Global Uniform Asymptotic Stabilization of an Underactuated Surface Vessel F. Mazenc, K.Y. Pettersen and H. Nijmeijer in Proc. 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, Dec. 2002, pp.510-515. DOI: 10.1109/CDC.2002.1184547
Way-point tracking control of ships K.Y. Pettersen and E. Lefeber in Proc. 40th IEEE Conference on Decision and Control, Orlando, Florida, Dec. 2001, pp. 940-945. DOI: 10.1109/.2001.980230
Semi-Global Practical Stabilization and Disturbance Adaptation for an Underactuated Ship K.Y. Pettersen and H. Nijmeijer in Proc. 39th IEEE Conference on Decision and Control, Sydney, Australia, Dec. 2000, pp. 2144-2149. DOI: 10.1109/CDC.2000.914112
Stabilization of a Nonlinear Underactuated Hovercraft I. Fantoni, R. Lozano, F. Mazenc and K.Y. Pettersen in Proc. 38th IEEE Conference on Decision and Control, Phoenix, Arizona, Dec. 1999, pp. 2533-2538. DOI: 10.1109/CDC.1999.831309
Tracking Control of an Underactuated Surface Vessel K.Y. Pettersen and H. Nijmeijer in Proc. 37th IEEE Conference on Decision and Control, Tampa, Florida, Dec. 1998, pp. 4561-4566. DOI: 10.1109/CDC.1998.762046
Global Practical Stabilization and Tracking for an Underactuated Ship - a Combined Averaging and Backstepping Approach K.Y. Pettersen and H. Nijmeijer in Proc. 1998 IFAC Conference on Systems Structure and Control Nantes, France, July 1998, pp. 59-64
Underactuated Ship Stabilization using Integral Control: Experimental Results with CyberShip I K.Y. Pettersen and T.I. Fossen in Proc. 1998 IFAC Symposium on Nonlinear Control Systems Design Enschede, The Netherlands, July 1998, pp. 127-132
Speed Regulation of an Induction Motor using Methods from Nonholonomic Control K.Y. Pettersen and O. Egeland in Proc. 1998 American Control Conference, Philadelphia, Pennsylvania, June 1998, pp. 2229-2230. DOI: 10.1109/ACC.1998.703023
Robust Attitude Stabilization of an Underactuated AUV K.Y. Pettersen and O. Egeland in Proc. 1997 European Control Conference Brussels, Belgium, July 1997
Robust Control of an Underactuated Surface Vessel with Thruster Dynamics K.Y. Pettersen and O. Egeland in Proc. 1997 American Control Conference, Albuquerque, New Mexico, June 1997, pp. 3411-3415. DOI: 10.1109/ACC.1997.612098
Position and Attitude Control of an Underactuated Autonomous Underwater Vehicle K.Y. Pettersen and O. Egeland in Proc. 35th IEEE Conference on Decision and Control, Kobe, Japan , Dec.1996, pp. 987-991. DOI: 10.1109/CDC.1996.574614
Exponential Stabilization of an Underactuated Surface Vessel K.Y. Pettersen and O. Egeland in Proc. 35th IEEE Conference on Decision and Control, Kobe, Japan , Dec. 1996, pp. 967-972. DOI: 10.1109/CDC.1996.574602
Control of Vehicles with Second-Order Nonholonomic Constraints: Underactuated Vehicles K.Y. Wichlund, O.J. Sørdalen and O. Egeland in Proc. 1995, European Control Conference Rome, Italy, Sep. 1995, pp. 3086-3091
Control Properties of Underactuated Vehicles K.Y. Wichlund, O.J. Sørdalen and O. Egeland in Proc. 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 1995, pp. 2009-2014. DOI: 10.1109/ROBOT.1995.525558
Exponential Stabilization of a Car with n Trailers O.J. Sørdalen and K.Y. Wichlund in Proc. 32nd IEEE Conference on Decision and Control, San Antonio, Texas, Dec. 1993, pp. 978-983. DOI: 10.1109/CDC.1993.325331

Book Chapters

Guidance of Autonomous Underwater Vehicles K.Y. Pettersen and T.I. Fossen Encyclopedia of Robotics, Eds. Ang M., Khatib O., Siciliano B., Springer, Berlin, Heidelberg, 2018 DOI: 10.1007/978-3-642-41610-1_11-1
Modeling of Underwater Snake Robots E. Kelasidi and K.Y. Pettersen Encyclopedia of Robotics, Eds. Ang M., Khatib O., Siciliano B., Springer, Berlin, Heidelberg, 2018 DOI: 10.1007/978-3-642-41610-1_50-1
Modeling of Underwater Vehicles T.I. Fossen and K.Y. Pettersen Encyclopedia of Robotics, Eds. Ang M., Khatib O., Siciliano B., Springer, Berlin, Heidelberg, 2018 DOI: 10.1007/978-3-642-41610-1_12-1
Model-Based LOS Path-Following Control of Planar Underwater Snake Robots A.M. Kohl, E. Kelasidi, K.Y. Pettersen and J.T. Gravdahl Sensing and Control for Autonomous Vehicles – Applications to Land, Water and Air Vehicles, Eds. T.I. Fossen, K.Y. Pettersen and H. Nijmeijer, Lecture Notes in Control and Information Sciences, Vol. 474, Springer International Publishing, 2017, pp. 343-364 DOI: 10.1007/978-3-319-55372-6_16
Path Planning for Formation Control of Autonomous Vehicles E.K. Xidias, N.A. Aspragathos, C. Paliotta and K.Y. Pettersen Advances in Robot Design and Intelligent Control, Eds. A. Rodić, T. Borangiu, Advances in Intelligent Systems and Computing, Vol. 540, Springer–Verlag, 2017, pp. 302-309 DOI: 10.1007/978-3-319-49058-8_33
Leader-Follower Synchronisation for a Class of Underactuated Systems D.J.W. Belleter and K.Y. Pettersen Nonlinear Systems: Techniques for Dynamical Analysis and Control, Eds. N. van de Wouw, E. Lefeber, I. Lopez Arteaga, Lecture Notes in Control and Information Sciences, Vol. 470, Springer–Verlag, 2017, pp. 157-179 DOI: 10.1007/978-3-319-30357-4_8
Underactuated Marine Control Systems K.Y. Pettersen Encyclopedia of Systems and Control, Eds. J. Baillieul and T. Samad, Springer Verlag, 2015 DOI: 10.1007/978-1-4471-5102-9_125-2
Controlling Parametric Resonance: Induction and Stabilization of Unstable Motions R. Galeazzi and K.Y. Pettersen Parametric Resonance in Dynamical Systems, Eds. T. I. Fossen and H. Nijmeijer, Springer Verlag, June 2011, pp. 305-327 DOI: 10.1007/978-1-4614-1043-0_15
Cross-track formation control of underactuated autonomous underwater vehicles E. Børhaug, A. Pavlov and K.Y. Pettersen Group Coordination and Cooperative Control, Eds. K.Y. Pettersen, J.T.Gravdahl and H. Nijmeijer, Lecture Notes in Control and Information Sciences, Volume 336, Springer-Verlag, 2006, pp. 35-54 DOI: 10.1007/11505532_3
A virtual vehicle approach to underway replenishment E. Kyrkjebø, E. Panteley, A. Chaillet and K.Y. Pettersen Group Coordination and Cooperative Control, Eds. K.Y. Pettersen, J.T.Gravdahl and H. Nijmeijer, Lecture Notes in Control and Information Sciences, Volume 336, Springer-Verlag, 2006, pp. 171-190 DOI: 10.1007/11505532_10
Output Feedback Tracking Control for Ships K.Y. Pettersen and H. Nijmeijer New Directions Nonlinear Observer Design, Eds. H. Nijmeijer and T.I. Fossen, Springer-Verlag, London, UK, 1999, pp. 311-334 DOI: 10.1007/BFb0109933
Free-Floating Robotic Systems O. Egeland and K.Y. Pettersen Control Problems in Robotics and Automation, Eds. B. Siciliano and K.P. Valavanis, Lecture Notes in Control and Information Sciences, Volume 230, Springer-Verlag, London, UK, 1998, pp. 119-134 DOI: 10.1007/BFb0015080