Control of light vehicle-manipulator systems

Project Information

CREME

Grant agreement ID: 101017697

DOI

10.3030/101017697

EC signature date 11 May 2021

Start date 1 August 2021

End date 31 July 2026

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost

€ 2 499 101,88

EU contribution

€ 2 499 101,88

Coordinated by

NORGES TEKNISK-NATURVITENSKAPELIGE UNIVERSITET NTNU
Norway

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (33)

Recursively Feasible MPC for Underactuated Euler-Lagrange Systems with Application to Snake Robot Locomotion

Author(s): Ivan Gushkov, Henrik M. Schmidt-Didlaukies, Mads Erlend Bøe Lysø, Kristin Y. Pettersen, Jan Tommy Gravdahl, Matthias Köhler, Jonas Mair
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Page(s) 6458-6465
Publisher: IEEE
DOI: 10.1109/cdc57313.2025.11312632

Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems

Author(s): Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2022
Publisher: IEEE
DOI: 10.1109/ccta49430.2022.9966055

Terrain-Following Guidance for Underwater Vehicles

Author(s): Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Page(s) 3589-3594
Publisher: IEEE
DOI: 10.1109/cdc57313.2025.11312627

Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles

Author(s): Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Mathias Marley, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 354-359, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.079

Model Predictive Task-Priority Control using Control Lyapunov Functions

Author(s): Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2024 European Control Conference (ECC), 2024, Page(s) 3185-3192
Publisher: IEEE
DOI: 10.23919/ecc64448.2024.10591286

Hardware-in-the-Loop Simulation of Vehicle Manipulator Systems for Physical Interaction Tasks

Author(s): Das Hemjyoti, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott
Published in: 2023
Publisher: IEEE
DOI: 10.1109/iros55552.2023.10342250

Data-driven control of planar snake robot locomotion

Author(s): Maria Scarpa, Benita Nortmann, Kristin Y. Pettersen, Thulasi Mylvaganam
Published in: 2022
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992937

Energy-Shaping Control for Swimming in Underwater Snake Robots

Author(s): Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 360-367, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.080

Sparse Reconstruction of Forces, Torques, and Velocity Signals for a Swimmer in a Wake

Author(s): Ivan Gushkov, Simon Hoff, Amer Orucevic, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: Lecture Notes in Control and Information Sciences - Proceedings, Systems Theory in Data and Optimization, 2026, Page(s) 181-196
Publisher: Springer Nature Switzerland
DOI: 10.1007/978-3-031-83191-1_12

Kinematic Task-Priority Path Following for Articulated Marine Vehicles

Author(s): Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 65-72, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.034

MPC Path Following with Macroscopic Shape Adjustment for AIAUVs

Author(s): Ivan Gushkov, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 368-373, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.081

Orbital Control for Swimming in Underwater Snake Robots using Energy-Shaping and Consensus Control*

Author(s): Mads Erlend Bøe Lysø, Elena Panteley, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Page(s) 2244-2251
Publisher: IEEE
DOI: 10.1109/cdc56724.2024.10885850

Synergistic PID and Output Feedback Control on Matrix Lie Groups

Author(s): Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2023.02.021

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Author(s): Amer Orucevic, Jan Tommy Gravdahl, Kristin Y. Pettersen, Antoine Chaillet
Published in: 2022
Publisher: IEEE
DOI: 10.1109/ccta49430.2022.9966034

Underwater vehicle navigation using bearing measurements from a mobile beacon

Author(s): Simon A. Hoff, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Damiano Varagnolo, Kristin Y. Pettersen
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 464-469, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.097

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots

Author(s): Ivan Ivanov Gushkov, Amer Orucevic, Kristin Y. Pettersen, Weijia Yao, Jan Tommy Gravdahl
Published in: 2023
Publisher: IEEE
DOI: 10.1109/ccta54093.2023.10252704

Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems

Author(s): Jan Inge Dyrhaug, Erling Tveter, Henrik Schmidt-Didlaukies, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.373

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion

Author(s): Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Y. Pettersen
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.419

Centralized Underwater Cooperative Transport with Safety Constraints

Author(s): Markus H. Iversflaten, Henrik Schmidt-Didlaukies, Jan Tommy Gravdahl, Kristin Y. Pettersen
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 139-146, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.045

A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships

Author(s): Henrik M. Schmidt-Didlaukies, Erlend Andreas Basso, Asgeir Johan Sørensen, Kristin Y. Pettersen
Published in: 2022
Publisher: IEEE
DOI: 10.1109/cdc51059.2022.9992911

Global Asymptotic Position and Heading Tracking for Multirotors using Tuning Function-based Adaptive Hybrid Feedback

Author(s): Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y Pettersen, Asgeir Johan Sørensen
Published in: 2022
Publisher: IEEE

Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot

Author(s): Amer Orucevic, Eirik Lothe Foseid, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 253-258, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.063

Robust Interaction using Generalized Super-Twisting Impedance Control

Author(s): Jan Inge Dyrhaug, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 499-505, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.103

Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem

Author(s): Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen
Published in: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Page(s) 7393-7398
Publisher: IEEE
DOI: 10.1109/cdc56724.2024.10886509

Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems

Author(s): Aurora Haraldsen, Josef Matouš, Kristin Y. Pettersen
Published in: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Page(s) 2555-2562
Publisher: IEEE
DOI: 10.1109/cdc57313.2025.11312160

Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs

Author(s): Marianna Wrzos-Kaminska, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 79-86, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.036

Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors

Author(s): Markus Høgevoll Iversflaten, Bjørn Kåre Sæbø, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.374

Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator

Author(s): Jan Inge Dyrhaug, Eirik Lothe Foseid, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2025, Page(s) 618-623, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2025.01.034

Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control

Author(s): Amer Orucevic, Mads Erlend Bøe Lysø, Henrik Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.535

Power-Based Safety Constraint for Redundant Robotic Manipulators

Author(s): Erling Tveter, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IFAC-PapersOnLine, Issue 58, 2024, Page(s) 347-353, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.078

Hierarchical Compliance-Control-Based Docking of a UVMS

Author(s): Torje Nysæther, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: 2023
Publisher: IEEE
DOI: 10.23919/oceans52994.2023.10337147

Exponentially Stable Robust Hierarchical Tracking Control for Vehicle-Manipulator Systems

Author(s): Marianna Wrzos-Kaminska, Jan Inge Dyrhaug, Bjørn Kåre Sæbø, Jan Tommy Gravdahl, Kristin Y. Pettersen
Published in: 2025 IEEE Conference on Control Technology and Applications (CCTA), 2025, Page(s) 01-08
Publisher: IEEE
DOI: 10.1109/ccta53793.2025.11151363

Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems

Author(s): Markus H. Iversflaten, Aurora Haraldsen, Kristin Y. Pettersen
Published in: 2022
Publisher: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2022.10.417​​​​​​​

Peer reviewed articles (10)

Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths With Anti-Windup Guarantees

Author(s): Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen
Published in: IEEE Control Systems Letters, Issue 8, 2024, Page(s) 730-735, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2024.3402910

Line-of-Sight Guidance: Learning to Look Ahead in Three Dimensions

Author(s): Eirik L. Foseid, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IEEE Control Systems Letters, Issue 9, 2025, Page(s) 1387-1392, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lcsys.2025.3579758

Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback

Author(s): Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen
Published in: IEEE Control Systems Letters, Issue Vol. 7, 2022, Page(s) 295-300, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2022.3187505

Line-of-Sight Guidance: Learning to Look Ahead

Author(s): Eirik Lothe Foseid, Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Published in: IEEE Journal of Oceanic Engineering, Issue 50, 2025, Page(s) 1637-1646, ISSN 0364-9059
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/joe.2024.3503765

Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback

Author(s): Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Asgeir Johan Sørensen
Published in: IEEE Transactions on Automatic Control, Issue Volume: 68, Issue: 3, March 2023, 2023, Page(s) 1584 - 1599, ISSN 1558-2523
Publisher: IEEE
DOI: 10.1109/tac.2022.3161372

Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks

Author(s): Erling Tveter, Bjørn Kåre Sæbø, Christian Ott, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, Page(s) 8786-8793, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2025.3588045

Super-twisting impedance control of redundant robots

Author(s): Jan Inge Dyrhaug, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: Mechatronics, Issue 114, 2026, Page(s) 103448, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2025.103448

Automatic alignment of underwater snake robots operating in wakes of bluff bodies

Author(s): Amer Orucevic, Marianna Wrzos-Kaminska, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Published in: Control Engineering Practice, Issue 147, 2024, Page(s) 105904, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2024.105904

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Author(s): Amer Orucevic, Marianna Wrzos-Kaminaks, Jan Tommy Gravdahl, Kristin Y. Pettersen
Published in: IEEE Transactions on Control Systems Technology, 2023, Page(s) 1-16, ISSN 1558-0865
Publisher: IEEE
DOI: 10.1109/tcst.2023.3345211

The generalized super-twisting algorithm with adaptive gains

Author(s): Ida-Louise Borlaug, Kristin Y. Pettersen, Jan Tommy Gravdahl
Published in: International Journal of Robust and Nonlinear Control, Issue Vol. 32, No. 13, 2022, 2022, Page(s) 7240 - 7270, ISSN 1099-1239
Publisher: John Wiley & Sons Ltd
DOI: 10.1002/rnc.6212

Thesis and dissertations (4)

Modeling and Hybrid Feedback Control of Underwater Vehicles

Author(s): Henrik M. Schmidt-Didlaukies
Published in: 2023, ISBN 978-82-326-6448-1
Publisher: NTNU

Nonlinear Control of Articulated Intervention-AUVs and Underwater Snake Robots

Author(s): Marianna Wrzos-Kaminska
Published in: 2025
Publisher: NTNU

Efficient Propulsion and Practical Stabilization of Underwater Snake Robots

Author(s): Amer Orucevic
Published in: 2023
Publisher: NTNU

Nonlinear and Hybrid Feedback Control of Marine Vehicles and Multirotors

Author(s): Erlend Andreas Basso
Published in: 2022, ISBN 978-82-326-5429-1
Publisher: NTNU