294 citations
- SINTEFNO50 papers
- Norwegian University of Science and TechnologyNO30 papers
- University of OsloNO8 papers
- Oklahoma State UniversityUS6 papers
- Centre for Arctic Gas Hydrate, Environment and ClimateNO2 papers
- NTNU SamfunnsforskningNO2 papers
- Oklahoma State University Oklahoma CityUS2 papers
- Simula Research LaboratoryNO2 papers
- Technische Universität BerlinDE2 papers
- UiT The Arctic University of NorwayNO2 papers
- University of BergenNO2 papers
- University of California, BerkeleyUS2 papers
7 papers · 1 filter
Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion
Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Ytterstad Pettersen
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear op…
Balancing the Norwegian regulated power market anno 2016 to 2022
Pål Forr Austnes, Signe Riemer-Sørensen, David Andreas Bordvik +1
The balancing market for power is designed to account for the difference between predicted supply/demand of electricity and the realised supply/demand. However, increased electrifi…
An environmental disturbance observer framework for autonomous surface vessels
Daniel Menges, Adil Rasheed
This paper proposes a robust disturbance observer framework for maritime autonomous surface vessels considering model and measurement uncertainties. The core contribution lies in a…
A Levenberg-Marquardt algorithm for sparse identification of dynamical systems
Mark Haring, Esten Ingar Grøtli, Signe Riemer-Sørensen +2
Low complexity of a system model is essential for its use in real-time applications. However, sparse identification methods commonly have stringent requirements that exclude them f…
Data-Efficient Deep Reinforcement Learning for Attitude Control of Fixed-Wing UAVs: Field Experiments
Eivind Bøhn, Erlend M. Coates, Dirk Reinhardt +1
Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitu…
Formation Path Following Control of Underactuated AUVs -- With Proofs
Josef Matouš, Kristin Y. Pettersen, Claudio Paliotta
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space…