• Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances 

      Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy (Chapter, 2019-06-25)
      An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ...
    • ROV Navigation in a Fish Cage with Laser-Camera Triangulation 

      Bjerkeng, Magnus Christian; Kirkhus, Trine; Caharija, Walter; Thielemann, Jens T; Amundsen, Herman Biørn; Ohrem, Sveinung Johan; Grøtli, Esten Ingar (Peer reviewed; Journal article, 2021)
      Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation ...
    • Semiglobal exponential stability of a counter-current and co-current guidance scheme 

      Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)
      A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ...
    • Semiglobal exponential stability of a counter-current and co-current guidance scheme 

      Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)
      A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ...