25 citations · 55 across the 8 of their papers we have counts for
8 papers
Singularity-free Formation Path Following of Underactuated AUVs: Extended Version
Josef Matouš, Kristin Y. Pettersen, Damiano Varagnolo +1
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks…
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…
Formation Path Following Control of Underactuated USVs -- With Proofs
Å. Eek, K. Y. Pettersen, E. -L. M. Ruud +1
This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-…
Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs
Erlend A. Basso, Kristin Y. Pettersen
This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF)…
Economic model predictive control for snake robot locomotion
Marko Nonhoff, Philipp N. Köhler, Anna M. Kohl +2
In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and…
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Global Approach - With proofs
D. J. W. Belleter, M. Maghenem, C. Paliotta +1
In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that r…
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach - With proofs
Mohammed Maghenem, Dennis W. J. Belleter, Claudio Paliotta +1
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a pat…
Set-based Control for Autonomous Spray Painting
Signe Moe, Jan Tommy Gravdahl, Kristin Y. Pettersen
In this paper, a method is presented for lowering the energy consumption and/or increasing the speed of a standard manipulator spray painting a surface. The approach is based on th…