Browsing by Author "Ruud, Else-Line Malene"
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Automatic Underway AUV Recovery Using a USV
Bitar, Glenn; Rundhovde, Marius; Ruud, Else-Line Malene; Sandrib, Jarle; Selvåg, Jarle; Smestad, Ragnar (2022-09-12)The future Norwegian naval mine countermeasure (NMCM) capability includes unmanned, autonomous vessels. The Royal Norwegian Navy uses the Hugin autonomous underwater vehicle (AUV) in mine hunting operations. To facilitate ... -
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 ... -
LandX20 Experiment Report – experiment for future land warfare capabilities with focus on increased situational awareness and unmanned systems
Mathiassen, Kim; Baksaas, Magnus; Dyrdal Idar; Eikanger, Brage Gerdsønn; Gulbrandsen, Fredrik; Gusland, Daniel; Larsen, Martin Vonheim; Mentzoni, Eilert; Minos-Stensrud, Mathias; Moen, Jonas; Nilssen, Eivind Bergh; Nummedal, Olav Rune; Nygaard, Tønnes; Rolfsjord, Sigmund; Simonsen, Aleksander; Thoresen, Marius; Bakstad, Lorns Harald; Bentsen, Dan Helge; Eggesbø, Christian; Grimstvedt, Eirik Skjelbreid; Haavardsholm, Trym Vegard; Halsør, Marius; Hoelsæter, Øistein; Kolden, David; Krogstad, Thomas Røbekk; Macdonald, Robert Helseth; Nielsen, Niels Hygum; Nonsvik, Guri; Ruud, Else-Line Malene; Seehuus, Rikke Amilde; Wiig, Martin Syre; Østevold, Einar (2022-03-21)LandX20 was a collaborative experiment and demonstration where four research projects from the Norwegian Defence Research Establishment (FFI) participated. The goal of the experiment was two-fold. The first goal was to ... -
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 ...