Control of light vehicle-manipulator systems

Información del proyecto

CREME

Identificador del acuerdo de subvención: 101017697

DOI

10.3030/101017697

Proyecto cerrado

Fecha de la firma de la CE 11 Mayo 2021

Fecha de inicio 1 Agosto 2021

Fecha de finalización 31 Julio 2026

Financiado con arreglo a

• EXCELLENT SCIENCE - European Research Council (ERC)

Coste total

€ 2 499 101,88

Aportación de la UE

€ 2 499 101,88

Coordinado por

NORGES TEKNISK-NATURVITENSKAPELIGE UNIVERSITET NTNU
Norway

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Publicaciones

Conference proceedings (37)

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

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

Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems

Autores: Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/ccta49430.2022.9966055

Terrain-Following Guidance for Underwater Vehicles

Autores: Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen
Publicado en: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Página(s) 3589-3594
Editor: IEEE
DOI: 10.1109/cdc57313.2025.11312627

Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles

Autores: Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Mathias Marley, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 354-359, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.079

Model Predictive Task-Priority Control using Control Lyapunov Functions

Autores: Eirik L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2024 European Control Conference (ECC), 2024, Página(s) 3185-3192
Editor: IEEE
DOI: 10.23919/ecc64448.2024.10591286

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

Autores: Das Hemjyoti, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Christian Ott
Publicado en: 2023
Editor: IEEE
DOI: 10.1109/iros55552.2023.10342250

Data-driven control of planar snake robot locomotion

Autores: Maria Scarpa, Benita Nortmann, Kristin Y. Pettersen, Thulasi Mylvaganam
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992937

Energy-Shaping Control for Swimming in Underwater Snake Robots

Autores: Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 360-367, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.080

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

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

Kinematic Task-Priority Path Following for Articulated Marine Vehicles

Autores: Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 65-72, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.034

MPC Path Following with Macroscopic Shape Adjustment for AIAUVs

Autores: Ivan Gushkov, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 368-373, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.081

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

Autores: Mads Erlend Bøe Lysø, Elena Panteley, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Página(s) 2244-2251
Editor: IEEE
DOI: 10.1109/cdc56724.2024.10885850

Synergistic PID and Output Feedback Control on Matrix Lie Groups

Autores: Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2023.02.021

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Autores: Amer Orucevic, Jan Tommy Gravdahl, Kristin Y. Pettersen, Antoine Chaillet
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/ccta49430.2022.9966034

Data-driven Dynamic Modeling of a Tendon-Actuated Continuum Robot

Autores: Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2026
Editor: IFAC

Underwater vehicle navigation using bearing measurements from a mobile beacon

Autores: Simon A. Hoff, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Damiano Varagnolo, Kristin Y. Pettersen
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 464-469, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.097

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

Autores: Ivan Ivanov Gushkov, Amer Orucevic, Kristin Y. Pettersen, Weijia Yao, Jan Tommy Gravdahl
Publicado en: 2023
Editor: IEEE
DOI: 10.1109/ccta54093.2023.10252704

Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems

Autores: Jan Inge Dyrhaug, Erling Tveter, Henrik Schmidt-Didlaukies, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.373

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion

Autores: Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Y. Pettersen
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.419

Centralized Underwater Cooperative Transport with Safety Constraints

Autores: Markus H. Iversflaten, Henrik Schmidt-Didlaukies, Jan Tommy Gravdahl, Kristin Y. Pettersen
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 139-146, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.045

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

Autores: Henrik M. Schmidt-Didlaukies, Erlend Andreas Basso, Asgeir Johan Sørensen, Kristin Y. Pettersen
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/cdc51059.2022.9992911

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

Autores: Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y Pettersen, Asgeir Johan Sørensen
Publicado en: 2022
Editor: IEEE

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

Autores: Amer Orucevic, Eirik Lothe Foseid, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 253-258, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.063

Robust Interaction using Generalized Super-Twisting Impedance Control

Autores: Jan Inge Dyrhaug, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 499-505, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.103

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

Autores: Erlend A. Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen
Publicado en: 2024 IEEE 63rd Conference on Decision and Control (CDC), 2025, Página(s) 7393-7398
Editor: IEEE
DOI: 10.1109/cdc56724.2024.10886509

Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems

Autores: Aurora Haraldsen, Josef Matouš, Kristin Y. Pettersen
Publicado en: 2025 IEEE 64th Conference on Decision and Control (CDC), 2026, Página(s) 2555-2562
Editor: IEEE
DOI: 10.1109/cdc57313.2025.11312160

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

Autores: Marianna Wrzos-Kaminska, Bjørn Kåre Sæbø, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 79-86, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.036

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

Autores: Markus Høgevoll Iversflaten, Bjørn Kåre Sæbø, Erlend Andreas Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.374

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

Autores: Jan Inge Dyrhaug, Eirik Lothe Foseid, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2025, Página(s) 618-623, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2025.01.034

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

Autores: Amer Orucevic, Mads Erlend Bøe Lysø, Henrik Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: Elsevier
DOI: 10.1016/j.ifacol.2023.10.535

Power-Based Safety Constraint for Redundant Robotic Manipulators

Autores: Erling Tveter, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IFAC-PapersOnLine, Edición 58, 2024, Página(s) 347-353, ISSN 2405-8963
Editor: Elsevier BV
DOI: 10.1016/j.ifacol.2024.10.078

Experimental Comparison of Kinematic Task-Priority Control Methods for an Articulated Intervention-AUV

Autores: Bjørn Kåre Sæbø, Markus Høgevoll Iversflaten, Jan Tommy Gravdahl, Kristin Y Pettersen
Publicado en: 2026
Editor: IEEE

Energy-Efficient Trajectory Tracking through Economic Nonlinear Model Predictive Control for Articulated Intervention-AUVs

Autores: Erling Tveter, Eirik Lothe Foseid, Kristin Y Pettersen, Jan Tommy Gravdahl
Publicado en: 2026
Editor: Springer

Hierarchical Compliance-Control-Based Docking of a UVMS

Autores: Torje Nysæther, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2023
Editor: IEEE
DOI: 10.23919/oceans52994.2023.10337147

Exponentially Stable Robust Hierarchical Tracking Control for Vehicle-Manipulator Systems

Autores: Marianna Wrzos-Kaminska, Jan Inge Dyrhaug, Bjørn Kåre Sæbø, Jan Tommy Gravdahl, Kristin Y. Pettersen
Publicado en: 2025 IEEE Conference on Control Technology and Applications (CCTA), 2025, Página(s) 01-08
Editor: IEEE
DOI: 10.1109/ccta53793.2025.11151363

Adaptive Synchronization-based Locomotion Control of Underwater Snake Robots

Autores: Mads Erlend Bøe Lysø, Amer Orucevic, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: 2026 34th Mediterranean Conference on Control and Automation (MED), 2026, Página(s) 1041-1046
Editor: IEEE
DOI: 10.1109/med70602.2026.11598419

Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems

Autores: Markus H. Iversflaten, Aurora Haraldsen, Kristin Y. Pettersen
Publicado en: 2022
Editor: Elsevier Ldt.
DOI: 10.1016/j.ifacol.2022.10.417​​​​​​​

Peer reviewed articles (13)

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

Autores: Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen
Publicado en: IEEE Control Systems Letters, Edición 8, 2024, Página(s) 730-735, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2024.3402910

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

Autores: Eirik L. Foseid, Henrik M. Schmidt-Didlaukies, Erlend A. Basso, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Control Systems Letters, Edición 9, 2025, Página(s) 1387-1392, ISSN 2475-1456
Editor: 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

Autores: Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen
Publicado en: IEEE Control Systems Letters, Edición Vol. 7, 2022, Página(s) 295-300, ISSN 2475-1456
Editor: IEEE
DOI: 10.1109/lcsys.2022.3187505

Marine Archaeological Surveying Using Snake Robots: The <i>Eely</i> Survey of <i>Figaro</i> Wreck in the High Arctic

Autores: Eleni Diamanti, Markus Fossdal, Markus Høgevoll Iversflaten, Bjørn Kåre Sæbø, Gabrielė Kasparavičiūtė, Ambjørn Grimsrud Waldum, Mauhing Yip, Øyvind Ødegård, Pedro De La Torre, Kristin Y. Pettersen, Annette Stahl, Aurora Hoel, Kjetil Skaugset, Martin Ludvigsen, Asgeir Johan Sørensen
Publicado en: Marine Technology Society Journal, Edición 59, 2025, Página(s) 78-103, ISSN 0025-3324
Editor: Marine Technology Society, Inc.
DOI: 10.4031/mtsj.59.2.7

Line-of-Sight Guidance: Learning to Look Ahead

Autores: Eirik Lothe Foseid, Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Journal of Oceanic Engineering, Edición 50, 2025, Página(s) 1637-1646, ISSN 0364-9059
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/joe.2024.3503765

Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback

Autores: Erlend Andreas Basso, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Asgeir Johan Sørensen
Publicado en: IEEE Transactions on Automatic Control, Edición Volume: 68, Edición: 3, March 2023, 2023, Página(s) 1584 - 1599, ISSN 1558-2523
Editor: IEEE
DOI: 10.1109/tac.2022.3161372

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

Autores: Erling Tveter, Bjørn Kåre Sæbø, Christian Ott, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, Página(s) 8786-8793, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2025.3588045

Experimental Investigation of the Optimal Position of Underwater Snake Robots for Energy Harvesting

Autores: Amer Orucevic, Mads Erlend Bøe Lysø, Ivan Gushkov, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: IEEE Journal of Oceanic Engineering, Edición 51, 2026, Página(s) 1885-1898, ISSN 0364-9059
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/joe.2026.3697338

Super-twisting impedance control of redundant robots

Autores: Jan Inge Dyrhaug, Henrik M. Schmidt-Didlaukies, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: Mechatronics, Edición 114, 2026, Página(s) 103448, ISSN 0957-4158
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2025.103448

Vector Field Path Following of Time-Varying Sinusoidal Paths for Underwater Snake Robots

Autores: Ivan Gushkov, Amer Orucevic, Kristin Y. Pettersen, Weijia Yao, Marianna Wrzos-Kaminska, Jan Tommy Gravdahl
Publicado en: IEEE Transactions on Control Systems Technology, Edición 34, 2026, Página(s) 1507-1519, ISSN 1063-6536
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2026.3677852

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

Autores: Amer Orucevic, Marianna Wrzos-Kaminska, Mads Erlend Bøe Lysø, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl
Publicado en: Control Engineering Practice, Edición 147, 2024, Página(s) 105904, ISSN 0967-0661
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2024.105904

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots

Autores: Amer Orucevic, Marianna Wrzos-Kaminaks, Jan Tommy Gravdahl, Kristin Y. Pettersen
Publicado en: IEEE Transactions on Control Systems Technology, 2023, Página(s) 1-16, ISSN 1558-0865
Editor: IEEE
DOI: 10.1109/tcst.2023.3345211

The generalized super-twisting algorithm with adaptive gains

Autores: Ida-Louise Borlaug, Kristin Y. Pettersen, Jan Tommy Gravdahl
Publicado en: International Journal of Robust and Nonlinear Control, Edición Vol. 32, No. 13, 2022, 2022, Página(s) 7240 - 7270, ISSN 1099-1239
Editor: John Wiley & Sons Ltd
DOI: 10.1002/rnc.6212

Thesis and dissertations (6)

Robust Interaction and Prioritized Tracking Control of Underwater Vehicle-Manipulator Systems

Autores: Jan Inge Dyrhaug
Publicado en: 2026
Editor: NTNU

Centralized Underwater Cooperative Transport with Prioritized Safety Constraints

Autores: Mads Erlend Bøe Lysø
Publicado en: 2026
Editor: NTNU

Modeling and Hybrid Feedback Control of Underwater Vehicles

Autores: Henrik M. Schmidt-Didlaukies
Publicado en: 2023, ISBN 978-82-326-6448-1
Editor: NTNU

Nonlinear Control of Articulated Intervention-AUVs and Underwater Snake Robots

Autores: Marianna Wrzos-Kaminska
Publicado en: 2025
Editor: NTNU

Efficient Propulsion and Practical Stabilization of Underwater Snake Robots

Autores: Amer Orucevic
Publicado en: 2023
Editor: NTNU

Nonlinear and Hybrid Feedback Control of Marine Vehicles and Multirotors

Autores: Erlend Andreas Basso
Publicado en: 2022, ISBN 978-82-326-5429-1
Editor: NTNU