Blar i SINTEF Open på forfatter "Grøtli, Esten Ingar"
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Autonomous Job Analysis: A Method for Design of Autonomous Marine Operations
Grøtli, Esten Ingar; Vagia, Marialena; Fjerdingen, Sigurd Aksnes; Bjerkeng, Magnus Christian; Transeth, Aksel Andreas; Svendsen, Eirik; Rundtop, Per (Journal article, 2016)Increased use of autonomy is considered crucial for continued growth in maritime industries like oil- and gas, waterborne transport, and fisheries- and aquaculture. This article presents a method called Autonomous Job ... -
Bin Picking of Reflective Steel Parts Using a Dual-Resolution Convolutional Neural Network Trained in a Simulated Environment
Dyrstad, Jonatan Sjølund; Bakken, Marianne; Grøtli, Esten Ingar; Schulerud, Helene; Mathiassen, John Reidar Bartle (Chapter, 2019)We consider the case of robotic bin picking of reflective steel parts, using a structured light 3D camera as a depth imaging device. In this paper, we present a new method for bin picking, based on a dual-resolution ... -
Bin Picking of Reflective Steel Parts Using a Dual-Resolution Convolutional Neural Network Trained in a Simulated Environment
Dyrstad, Jonatan Sjølund; Bakken, Marianne; Grøtli, Esten Ingar; Schulerud, Helene; Mathiassen, John Reidar Bartle (Chapter, 2019-12-15)We consider the case of robotic bin picking of reflective steel parts, using a structured light 3D camera as a depth imaging device. In this paper, we present a new method for bin picking, based on a dual-resolution ... -
Bin Picking of Reflective Steel Parts using a Dual-Resolution Convolutional Neural Network Trained in a Simulated Environment
Dyrstad, Jonatan Sjølund; Bakken, Marianne; Grøtli, Esten Ingar; Schulerud, Helene; Mathiassen, John Reidar Bartle (Journal article; Peer reviewed, 2018-12-12)We consider the case of robotic bin picking of reflective steel parts, using a structured light 3D camera as a depth imaging device. In this paper, we present a new method for bin picking, based on a dual-resolution ... -
Bruk av droner i nordområdene
Bakken, Trond; Johnsen, Stig Ole; Holmstrøm, Sture; Merz, Mariann; Transeth, Aksel Andreas; Grøtli, Esten Ingar; Risholm, Petter; Storvold, Rune (SINTEF rapport;2019:01284, Research report, 2019)Formålet med denne rapporten er å vise eksempler på bruk av fjernstyrte og autonome droner i petroleumssektoren og vise hvilke utviklingstrender innen droneteknologi som er viktige. Utfordringer og muligheter for bruk av ... -
Canvas as a Design Tool for Autonomous Operations: : With application to net inspection of a sea based fish farm using an underwater vehicle
Grøtli, Esten Ingar; Bjerkeng, Magnus Christian; Rundtop, Per; Vagia, Marialena; Bakkevig, Fredrik; Transeth, Aksel Andreas (Journal article; Peer reviewed, 2017)Several design methods and principles have been proposed in the literature in order to guide the design of autonomous operations. Putting the required efforts into learning and using the methods is a daunting task, and ... -
Canvas as a Design Tool for Autonomous Operations: : With application to net inspection of a sea based fish farm using an underwater vehicle
Grøtli, Esten Ingar; Bjerkeng, Magnus Christian; Rundtop, Per; Vagia, Marialena; Bakkevig, Fredrik; Transeth, Aksel Andreas (Journal article; Peer reviewed, 2017)Several design methods and principles have been proposed in the literature in order to guide the design of autonomous operations. Putting the required efforts into learning and using the methods is a daunting task, and ... -
Dronen gjorde jobben
Grøtli, Esten Ingar (2015-02-23) -
Exact and over-approximated guarantees for corner cutting avoidance in a multi-obstacle environment
Grøtli, Esten Ingar; Stoican, Florin; Prodan, Ionela (Journal article; Peer reviewed, 2018)The corner cutting avoidance problem is an important but often overlooked part of motion planning strategies. Obstacle and collision avoidance constraints are usually imposed at the sampling time without regards to the ... -
Kartlegging av status og potensiale for dronebasert teknologi. Anvendelser innen naturfare og infrastruktur
Grøtli, Esten Ingar; Transeth, Aksel Andreas; Gylland, Anders Samstad; Risholm, Petter; Bergh, Ida Soon Brøther (SINTEF Rapport;, Research report, 2014)NIFS (Naturfare, Infrastruktur, Flom og Skred) er et felles satsingsområde mellom etatene Jernbaneverket, Norges vassdrags- og energidirektorat og Statens vegvesen. På vegne av NIFS har SINTEF utført en kartlegging av ... -
Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints ... -
Motion- and Communication-Planning of Unmanned Aerial Vehicles in Delay Tolerant Network using Mixed-Integer Linear Programming
Grøtli, Esten Ingar; Johansen, Tor Arne (Journal article; Peer reviewed, 2016)Large amounts of data are typically generated in applications such as surveillance of power lines and railways, inspection of gas pipes, and security surveillance. In the latter application it is a necessity that the data ... -
On corner cutting in multi-obstacle avoidance problems
Stoican, Florin; Grøtli, Esten Ingar; Prodan, Ionela; Oara, Cristian (Journal article, 2015)One challenging and not extensively studied issue in obstacle avoidance is the corner cutting problem. Avoidance constraints are usually imposed at the sampling time without regards to the intra-sample behavior of the ... -
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based ... -
On the globally exponentially convergent immersion and invariance speed observer for mechanical systems
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article we present a reformulation of the invariance and immersion speed observer of Astolfi et al. as applied to mechanical systems with bounded inertia matrices. This is done to explore the possibility of its ... -
PSO and Kalman Filter-Based Node Motion Prediction for Data Collection from Ocean Wireless Sensors Network with UAV
Ho, Tu Dac; Grøtli, Esten Ingar; Johansen, Tor Arne (Peer reviewed; Journal article, 2021)In this paper, we consider a wireless sensor network of nodes at the sea surface drifting due to wind and sea currents. In our scenario an Unmanned Aerial Vehicle (UAV) will be used to gather data from the sensor nodes. ... -
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 ... -
SEATONOMY Design, development and validation of marine autonomous systems and operations
Grøtli, Esten Ingar; Reinen, Tor Arne; Grythe, Knut; Transeth, Aksel Andreas; Vagia, Marialena; Bjerkeng, Magnus Christian; Rundtop, Per; Svendsen, Eirik; Rødseth, Ørnulf Jan; Eidnes, Grim (Journal article, 2015)The SEATONOMY methodology provides a structured approach for design, development and validation of mobile autonomous maritime operations and systems. The goal is to achieve this by providing system developers of autonomous ... -
SEATONOMY Design, development and validation of marine autonomous systems and operations
Grøtli, Esten Ingar; Reinen, Tor Arne; Grythe, Knut; Transeth, Aksel Andreas; Vagia, Marialena; Bjerkeng, Magnus Christian; Rundtop, Per; Svendsen, Eirik; Rødseth, Ørnulf Jan; Eidnes, Grim (Journal article, 2015)The SEATONOMY methodology provides a structured approach for design, development and validation of mobile autonomous maritime operations and systems. The goal is to achieve this by providing system developers of autonomous ... -
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 ...