Browsing Articles by Author "Ruud, Else-Line Malene"

Now showing items 1-4 of 4

    • Formation Path Following Control of Underactuated USVs 

      Eek, Åsmund; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (2021-06-30)
      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-sight (LOS) guidance law and the ...

    • An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (2018)
      This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...

    • Towards simulation-based verification of autonomous navigation systems 

      Pedersen, Tom; Glomsrud, Jon; Ruud, Else-Line Malene; Simonsen, Aleksander; Sandrib, Jarle; Eriksen, Bjørn-Olav Holtung (2020-09)
      Autonomous ships are expected to change water-based transport of both cargo and people, and large investments are being made internationally. There are many reasons for such transformation and interest, including shifting ...

    • Towards Using Reinforcement Learning for Autonomous Docking of Unmanned Surface Vehicles 

      Holen, Martin; Ruud, Else-Line Malene; Warakagoda, Narada Dilp; Granmo, Ole-Christoffer; Engelstad, Paal E.; Knausgård, Kristian Muri (2022-06-10)
      Providing full autonomy to Unmanned Surface Vehicles (USV) is a challenging goal to achieve. Autonomous docking is a subtask that is particularly difficult. The vessel has to distinguish between obstacles and the dock, and ...