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Aurora Haraldsen

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Aurora Haraldsen

Postdoctor
Department of Engineering Cybernetics

aurora.haraldsen@ntnu.no
D351B Elektro D+B2 Gløshaugen, Trondheim
About Research Publications

About

I'm a postdoctoral researcher at NTNU, focusing on underwater robotics and data-driven control. I'm a part of the ERC funded project CRÈME, lead by Professor Kristin Y. Pettersen.

 

 

 

 

 

Research

I'm a postdoctoral researcher contributing to the ERC Advanced Grant project CRÈME, aimed at developing advanced control systems for light underwater vehicle-manipulator systems.  My project will investigate how the recent ground-breaking developments in data-driven AI can be combined with more traditional control frameworks to achieve further improved performance and robustness while also providing the safety guarantees that are required for the safety-critical systems that the autonomous robots considered in CRÈME constitute.

Control of light vehicle-manipulator systems (CRÈME)

In this project we aim to develop a control framework that enables light and freely moving autonomous robots that can perform complex and versatile operations, involving highly precise and forceful physical interactions, in challenging environments.

Publications

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  • See all publications in Cristin

2024

  • Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. IEEE Transactions on Control Systems Technology
    Academic article
  • Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Guidance of Underactuated Marine Vehicles in Dynamic Environments using Velocity Obstacles. IEEE (Institute of Electrical and Electronics Engineers)
    Academic chapter/article/Conference paper
  • Haraldsen, Aurora; Wiig, Martin Syre; D. Ames, Aaron; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. IEEE conference proceedings
    Academic chapter/article/Conference paper

2023

  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2023) Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments. IEEE conference proceedings
    Academic chapter/article/Conference paper

2022

  • Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
    Academic article
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
    Academic article

2021

  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
    Academic chapter/article/Conference paper
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine
    Academic article
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
    Academic article

Journal publications

  • Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. IEEE Transactions on Control Systems Technology
    Academic article
  • Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
    Academic article
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
    Academic article
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Nonholonomic Vehicles in Dynamic Environments with Obstacles of Arbitrary Shape. IFAC-PapersOnLine
    Academic article
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
    Academic article

Part of book/report

  • Haraldsen, Aurora; Wiig, Martin Syre; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Guidance of Underactuated Marine Vehicles in Dynamic Environments using Velocity Obstacles. IEEE (Institute of Electrical and Electronics Engineers)
    Academic chapter/article/Conference paper
  • Haraldsen, Aurora; Wiig, Martin Syre; D. Ames, Aaron; Pettersen, Kristin Ytterstad. (2024) Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. IEEE conference proceedings
    Academic chapter/article/Conference paper
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2023) Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments. IEEE conference proceedings
    Academic chapter/article/Conference paper
  • Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
    Academic chapter/article/Conference paper

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