Kristin Ytterstad Pettersen
Foto: Ronny Danielsen
Research

Research interests

  • Nonlinear control theory
  • Motion control of mechanical systems, in particular ships, AUVs, robot manipulators and snake robots
  • Autonomous vehicles
  • Robotics
  • Cooperative and coordinated control of mechanical systems
  • Underactuated and nonholonomic systems

PhD students

  • Bjørn Kåre Sæbø

    LinkedIn
    PhD project

    Motion planning and control of light-UVMS

  • Markus H. Iversflaten

    LinkedIn
    PhD project

    Cooperative control for joint observation and intervention tasks

  • Gianluca d´Antuono

    LinkedIn
    PhD project

    Hyper-redundant robots for maintenance in Big Science Facilities

  • Eirik Lothe Foseid

    LinkedIn
    PhD project

    Robust motion planning and control of AIAUVs

  • Hareesh Chitikena

    LinkedIn
    PhD project | Co-advised

    Modular multi-terrain self-reconfigurable snake robots

  • Casper J. Potter

    LinkedIn Website
    PhD project | Co-advised

    Bio-inspired flow sensing for articulated intervention autonomous underwater vehicles

  • Simon A. Hoff

    LinkedIn Website
    PhD project

    Communication-aware path planning for autonomous underwater fleets

  • Josef Matouš

    Website
    PhD project

    Distributed cooperative control of marine multi-vehicle systems

  • Amer Orucevic

    LinkedIn Website
    PhD project | Co-advised

    Energy-harvesting

  • Irja Gravdahl

    LinkedIn Website
    PhD project | Co-advised

    Hybrid obstacle-aided locomotion control of snake robots

  • Aurora Haraldsen

    LinkedIn Website
    PhD project

    Collision avoidance for autonomous vehicles in dynamic environments

  • Carina Norvik

    LinkedIn Website
    PhD project | Co-advised

    Bioinspired fins for articulated autonomous underwater vehicles

  • Katrine Seel

    LinkedIn Website
    PhD project | Co-advised

    Combining data-driven and model-based methods for estimation and control

  • Erlend A. Basso

    LinkedIn Website
    PhD project

    Motion planning and control of articulated intervention-AUVs

  • Marius Thoresen

    LinkedIn Website
    PhD project

    Motion planning in rough terrain for unmanned ground vehicles

  • Marianna Wrzos-Kaminska

    Website
    PhD project

    Free-floating intervention operations using articulated intervention-AUVs

  • Henrik Schmidt-Didlaukies

    Website
    PhD project | Co-advised

    Modelling and Control of Hyper-Redundant Underwater Manipulators

  • Jørgen Sverdrup-Thygeson

    LinkedIn
    PhD project

    Swimming Robot Manipulators for Subsea IMR

Graduated PhD students

Post Docs

Selected Research Projects

  • ERC AdG Control of light vehicle-manipulator systems (CRÈME)

    2021-2026 Principal Investigator

    Funded by the European Research Council.

    Total budget: 2.5 MEUR
  • NTNU VISTA Center for autonomous robotic operations subsea (CAROS)

    Website
    2020-2025 Principal Investigator

    Funded by The Norwegian Academy of Science and Letters and Equinor.

    Total budget: 45 MNOK
  • Autonomous Underwater Fleets: from AUVs to AUFs through adaptive communication and cooperation schemes

    2020-2023 Key Scientist

    FRIPRO project funded by the Research Council of Norway. Project partners: NTNU and SINTEF.

    Total budget: 14.6 MNOK
  • Autonomous Robots for Ocean Sustainability (AROS)

    2019-2023 Project Manager

    IKTPLUSS project funded by the Research Council of Norway.

    Total budget: 21.5 MNOK
  • Autonomous Marine Operations and Systems (NTNU AMOS)

    Website
    2013-2022 Key Scientist

    Centre of excellence funded by the Research Council of Norway. Project Manager for Project 2: “Marine robotic platforms”.

    Project partners: NTNU, SINTEF, Statoil, DNV

    Total budget: 600 MNOK
  • Snake Locomotion in Challenging Environments (SLICE)

    2011-2015 Project Manager

    FRITEK project funded by the Research Council of Norway. Project partners: NTNU and SINTEF.

    Total budget: 13.9 MNOK
  • Control, Information and Communication Systems for Environmental and Safety Critical Systems (CICS)

    2009-2014 Project Manager

    SUP project funded by the Research Council of Norway.

    Total budget: 15 MNOK
  • Next Generation Robotics for Norwegian Industry (NextGenRob)

    2009-2014 Key Scientist

    Project partners: SINTEF, NTNU, Statoil, Hydro, Tronrud Engineering, Glen Dimplex Nordic, SbSeating (HÅG) and RobotNorge.

    Total budget: 36 MNOK

Books

  • Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles
    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
    DOI: 10.1007/978-3-319-55372-6
  • Vehicle-Manipulator Systems: Modeling for Simulation, Analysis, and Control
    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
    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
    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

Journal papers

  • Path Planning for UGVs with Terrain Traversability Optimization based on Hybrid A*
    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, 2021. DOI: 10.1109/LRA.2021.3056028
  • Comparison of two second-order sliding mode control algorithms for an articulated intervention-AUV: Theory and experimental results
    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
  • Combined kinematic and dynamic control of vehicle-manipulator systems
    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
  • Set-based Collision Avoidance: Applications to robotic systems
    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
  • A 3D Reactive Collision Avoidance Algorithm for Underactuated Underwater Vehicles
    A 3D Reactive Collision Avoidance Algorithm for Underactuated Underwater Vehicles M.S. Wiig, K.Y. Pettersen and T.R. Krogstad Vol. 37, No. 6, 2020, pp. 1094-1122 DOI: 10.1002/rob.21948
  • Tracking control of an articulated intervention AUV in 6DOF using generalized super-twisting: Theory and Experiments
    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
  • Collision avoidance for underactuated marine vehicles using the constant avoidance angle algorithm
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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)
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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” Robotics and Autonomous Systems, Vol. 60, no. 1, 2012, pp. 29-40.#
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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 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
    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 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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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

Refereed Conference papers

  • Unifying Reactive Collision Avoidance and Control Allocation for Multi-agent Systems
    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 San Diego, CA, Aug. 8-11, 2021
  • Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept
    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 San Diego, CA, Aug. 8-11, 2021
  • Formation Path Following Control of Underactuated USVs
    Formation Path Following Control of Underactuated USVs Å. Eek, K.Y. Pettersen, E-L.M. Ruud and T.R. Krogstad Proc. 2021 European Control Conference Rotterdam, The Netherlands, June 29 - July 2, 2021
  • Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the presence of Parametric Uncertainties
    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 New Orleans, LA, May 26-28, 2021
  • Neural Network-Based Model Predictive Control with Input-to-State Stability
    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 New Orleans, LA, May 26-28, 2021
  • Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking of Underwater Vehicles
    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, Jeju Island, Republic of Korea, Dec. 8-11, 2020. DOI: 10.1109/CDC42340.2020.9304232
  • Vehicle Safety of the Velocity Obstacle Algorithm
    Vehicle Safety of the Velocity Obstacle Algorithm A. Haraldsen, M.S. Wiig and K.Y. Pettersen Proc. 59th IEEE Conference on Decision and Control, 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
    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, Montréal, Canada, August 24-26, 2020. DOI: 10.1109/CCTA41146.2020.9206276
  • Reactive collision avoidance for ASVs based on control barrier functions
    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, 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
    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, Berlin, Germany, July 12-17, 2020. DOI: 10.1016/j.ifacol.2020.12.1550
  • Economic model predictive control for obstacle-aided snake robot locomotion
    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, 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
    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, Berlin, Germany, July 12-17, 2020. DOI: 10.1016/j.ifacol.2020.12.2024
  • The generalized super-twisting algorithm with adaptive gains
    The generalized super-twisting algorithm with adaptive gains I.-L. G. Borlaug, K.Y. Pettersen and J.T. Gravdahl Proc. European Control Conference 2020, 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
    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, Saint Petersburg, Russia, May 12-15, 2020. DOI: 10.23919/ECC51009.2020.9143717
  • Economic model predictive control for snake robot locomotion
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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 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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
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  • Experimental investigation of fundamental properties of snake robot locomotion
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  • Fundamental properties of snake robot locomotion
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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 6DOF AUVs
    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
    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
    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
    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 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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
  • Formation control of underactuated marine vehicles with communication constraints
    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
  • LOS path following for underactuated underwater vehicles
    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
  • Observer design for underwater vehicles with position and angle measurement
    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
  • Weather optimal dynamic positioning of underactuated AUVs using output feedback control
    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
  • An optimal guidance scheme for cross-track control of underactuated underwater vessels
    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 in nonlinear control theory education
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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®
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
  • in Proc. 32nd IEEE Conference on Decision and Control
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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
    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

Courses

  • TTK4150 Nonlinear Control Systems
  • TK8103 Advanced Nonlinear Systems

MSc students

  • Bjørn Kåre Sæbø (integrated PhD)

    LinkedIn
    MSc project

    Motion planning and control of light-UVMS

  • Markus H. Iversflaten (integrated PhD)

    LinkedIn
    MSc project

    Cooperative control for joint observation and intervention tasks

  • Peter Hatlebrekke Husebø

    LinkedIn
    MSc project

    AIAUV collision avoidance

  • Siawash Naqibi

    LinkedIn
    MSc project

    Distributed coverage control of underactuated AUVs with limited sensing

  • Kristoffer Hovland

    LinkedIn
    MSc project

    Distributed formation path following control for underactuated AUVs with limited sensing

  • Øyvind Reppen Lunde

    LinkedIn
    MSc project

    Motion planning for USV formations with varying loads

  • Mads Erlend Bøe Lysø

    LinkedIn
    MSc project

    Planning and control of tetrapod robots

  • Erling Tveter

    LinkedIn
    MSc project

    Autonomous Intervention Control Methods

  • Jan Inge Dyrhaug

    LinkedIn
    MSc project

    Autonomous Intervention Control Methods

Dissemination

Eelume

Eelume

Co-Founder and former CEO of Eelume AS, where she is currently a board member: www.eelume.com

Eelume underwater Intervention vehicles are basically self-propelled robotic arms whose slender and flexible body can transit over long distances and carry out light inspection, maintenance and repair jobs in confined spaces not accessible by conventional underwater vehicles. It will be equipped with several types of sensors and tools needed to fulfil its mission. Kongsberg Maritime: Underwater Intervention Vehicle, Eelume

Patent: IPN: WO 2016/120071: K.Y. Pettersen, P. Liljebäck, A. Sørensen, Ø. Stavdahl, J.T. Gravdahl and A. Transeth, “Underwater manipulator arm robot”, Patent granted in Australia, Japan, Singapore, USA and EPO.