• Journal articles
• Peer-reviewed conference publications
• PhD theses related to CRÈME

Journal articles

E.L. Foseid, Erlend A. Basso, Henrik M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, “Line-of-Sight Guidance: Learning to Look Ahead”, Journal of Oceanic Engineering, 2024.
DOI: 10.1109/JOE.2024.3503765

H.M. Schmidt-Didlaukies, E.A. Basso and K.Y. Pettersen, “Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees”, IEEE Control Systems Letters, Vol. 8, 2024, pp. 730 – 735.
DOI: 10.1109/LCSYS.2024.3402910

A. Orucevic, M. Wrzos-Kaminska, M.E.B. Lysø, K.Y. Pettersen and J.T. Gravdahl, “Automatic Alignment of Underwater Snake Robots Operating in Wakes of Bluff Bodies”, Control Engineering Practice, Vol. 147, 105904, 2024.
DOI: 10.1016/j.conengprac.2024.105904

A. Orucevic, M. Wrzos-Kaminska, J.T. Gravdahl and K.Y. Pettersen, “Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots”, IEEE Transactions on Control Systems Technology, Vol. 32, No. 5, 2024, pp. 1631 - 1646.
DOI: 10.1109/TCST.2023.3345211

E.A. Basso, H.M. Schmidt-Didlaukies and K.Y. Pettersen, “Global Asymptotic Position and Heading Tracking for Multirotors using Tuning Function-based Adaptive Hybrid Feedback”, IEEE Control Systems Letters, Vol. 7, 2023, pp. 295 – 300.
DOI: 10.1109/LCSYS.2022.3187505

E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen, A.J. Sørensen, “Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback”, IEEE Transactions on Automatic Control, Vol. 68, No. 3, 2023, pp. 1584-1599.
DOI: 10.1109/TAC.2022.3161372

I.-L. Borlaug, K.Y. Pettersen and J.T. Gravdahl, “The generalized super-twisting algorithm with adaptive gains”, International Journal of Robust and Nonlinear Control, Vol. 32, No. 13, 2022, pp. 7240 - 7270.
DOI: 10.1002/rnc.6212

Peer-reviewed conference publications

E.A. Basso and H.M. Schmidt-Didlaukies and K.Y. Pettersen, “Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem”, Proc. 63rd Conference on Decision and Control, Milano, Italy, Dec. 16-19, 2024.
DOI: 10.1109/CDC56724.2024.10886509

M.E.B. Lysø, E. Panteley, K.Y. Pettersen and J.T. Gravdahl, “Orbital Control for Swimming in Underwater Snake Robots using Energy-shaping and Consensus Control”, Proc. 63rd Conference on Decision and Control, Milano, Italy, Dec. 16-19, 2024.
DOI: 10.1109/CDC56724.2024.10885850

J.I. Dyrhaug, E.L. Foseid, H.M. Schmidt-Didlaukies, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl, “Super-Twisting Impedance Control for Robust and Compliant Intervention using a Redundant Robot Manipulator”, Proc. 4th Modeling, Estimation, and Control Conference, Chicago, Illinois, Oct. 27-30, 2024. IFAC-PapersOnLine, Vol. 58, Issue 28, 2024, pp. 618-623.
DOI: 10.1016/j.ifacol.2025.01.034

S. Hoff, H.M. Schmidt-Didlaukies, E.A. Basso, D. Varagnolo and K.Y. Pettersen, “Underwater vehicle navigation using bearing measurements from a mobile beacon”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 464-469.
DOI: 10.1016/j.ifacol.2024.10.097

M.E.B. Lysø, K.Y. Pettersen and J.T. Gravdahl, “Energy-Shaping Control for Swimming in Underwater Snake Robots”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 360–367.
DOI: 10.1016/j.ifacol.2024.10.080

J.I. Dyrhaug, K.Y. Pettersen and J.T. Gravdahl, “Robust Interaction using Generalized Super-Twisting Impedance Control, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 499-505.
DOI: 10.1016/j.ifacol.2024.10.103

E.L. Foseid, E.A. Basso, H.M. Schmidt-Didlaukies, M. Marley, K.Y. Pettersen and J.T. Gravdahl, "Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles", Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 354-359.
DOI: 10.1016/j.ifacol.2024.10.079

B.K. Sæbø, K.Y. Pettersen and J.T. Gravdahl, "Kinematic Task-Priority Path Following for Articulated Marine Vehicles”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 65-72.
DOI: 10.1016/j.ifacol.2024.10.034

E. Tveter, K.Y. Pettersen and J.T. Gravdahl, "Power-Based Safety Constraint for Redundant Robotic Manipulators”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 347-353.
IFAC CAMS 2024 Best Paper Award.
DOI: 10.1016/j.ifacol.2024.10.078

I. Gushkov, K.Y. Pettersen and J.T. Gravdahl, "MPC Path Following with Macroscopic Shape Adjustment for AIAUVs”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 368-373.
DOI: 10.1016/j.ifacol.2024.10.081

A. Orucevic, E.L. Foseid, M.E.B. Lysø, K.Y. Pettersen and J.T. Gravdahl, "Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 253-258.
DOI: 10.1016/j.ifacol.2024.10.063

M. Wrzos-Kaminska, B.K. Sæbø, K.Y. Pettersen and J.T. Gravdahl, "Unifying the Generalized Jacobian Matrix and prioritized task hierarchies, with application to free-floating VMSs”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 79-86.
DOI: 10.1016/j.ifacol.2024.10.036

M.H. Iversflaten, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, “Centralized Underwater Cooperative Transport with Prioritized Safety Constraints”, Proc. 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Blacksburg, Virginia, USA, Sep. 3-5, 2024. IFAC-PapersOnLine, Vol. 58, Issue 20, 2024, pp. 139-146.
DOI: 10.1016/j.ifacol.2024.10.045

E.L. Foseid, E.A. Basso, H. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, “Model Predictive Task-Priority Control using Control Lyapunov Functions”, Proc. 22nd European Control Conference, Stockholm, Sweden, June 24-28, 2024.
DOI: 10.23919/ECC64448.2024.10591286

H. Das, B.K. Sæbø, K.Y. Pettersen and C. Ott, “Hardware-in-the-Loop Simulation of Vehicle Manipulator Systems for Physical Interaction Tasks, Proc. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, USA, Oct. 1-5, 2023.
DOI: 10.1109/IROS55552.2023.10342250

T. Nysæther, K.Y. Pettersen and J.T. Gravdahl, “Hierarchical compliance-control-based docking of a UVMS”, Proc. OCEANS, Mississippi Gulf Coast, Sep. 25-28, 2023.
DOI: 10.23919/OCEANS52994.2023.10337147

I. Gushkov, A. Orucevic, K.Y. Pettersen, W. Yao and J.T. Gravdahl, “Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots”, Proc. 7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, Aug. 16-18, 2023.
DOI: 10.1109/CCTA54093.2023.10252704

M.E.B.Lysø, E.I. Grøtli and K.Y. Pettersen, “Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion”, Proc. 22nd IFAC World Congress 2023, Yokohama, Japan, July 9 – 14, 2023.
DOI: 10.1016/j.ifacol.2023.10.419

M.H. Iversflaten, B.K. Sæbø, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl, “Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors”, Proc. 22nd IFAC World Congress 2023, Yokohama, Japan, July 9 – 14, 2023.
DOI: 10.1016/j.ifacol.2023.10.374

J.I. Dyrhaug, E. Tveter, H.M. Schmidt-Didlaukies, E.A. Basso, K.Y. Pettersen and J.T. Gravdahl “Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems”, Proc. 22nd IFAC World Congress 2023, Yokohama, Japan, July 9 – 14, 2023.
DOI: 10.1016/j.ifacol.2023.10.373

A. Orucevic, M.E.B.Lysø, H.M. Schmidt-Didlaukies,  K.Y. Pettersen and J. T. Gravdahl, “Optimal Positioning of Snake Robots in Vortex Wakes using Extremeum-Seeking Control”, Proc. 22nd IFAC World Congress 2023, Yokohama, Japan, July 9 – 14, 2023.
DOI: 10.1016/j.ifacol.2023.10.535

E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and J.T. Gravdahl, “Synergistic PID and Output Feedback Control on Matrix Lie Groups”, Proc. 12th IFAC Symposium on Nonlinear Control Systems, Canberra, Australia, Jan. 4-6, 2023.
IFAC NOLCOS 2022+ Young Author Award.
DOI: 10.1016/j.ifacol.2023.02.021

H.M. Schmidt-Didlaukies, E.A. Basso, A.J. Sørensen and K.Y. Pettersen, “A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships”, Proc. 61st IEEE Conference on Decision and Control, Cancún, Mexico, Dec. 6-9, 2022.
DOI: 10.1109/CDC51059.2022.9992911

E.A. Basso, H.M. Schmidt-Didlaukies, K.Y. Pettersen and A.J. Sørensen, “Global Asymptotic Position and Heading Tracking for Multirotors using Tuning Function-based Adaptive Hybrid Feedback”, Proc. 61st IEEE Conference on Decision and Control, Cancún, Mexico, Dec. 6-9, 2022.
DOI: 10.1109/LCSYS.2022.3187505

M.L. Scarpa, B. Nortmann, K.Y. Pettersen and T. Mylvaganam, “Data-driven control of planar snake robot locomotion”, Proc. 61st IEEE Conference on Decision and Control, Cancún, Mexico, Dec. 6-9, 2022.
DOI: 10.1109/CDC51059.2022.9992937

Markus H. Iversflaten, A. Haraldsen and K.Y. Pettersen, “Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems”, Proc. 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Kongens Lyngby, Denmark, Sep. 14-16, 2022.
DOI: 10.1016/j.ifacol.2022.10.417
IFAC CAMS 2022 Young Author Award.

B.K. Sæbø, K.Y. Pettersen and J. T. Gravdahl, “Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems”, in Proc. 2022 IEEE Conf. Control Technology and Applications, Trieste, Italy, Aug. 22 – 25, 2022.
DOI: 10.1109/CCTA49430.2022.9966055

A. Orucevic, J.T. Gravdahl, K.Y. Pettersen and A. Chaillet, “Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots”, in Proc. 2022 IEEE Conf. Control Technology and Applications, Trieste, Italy, Aug. 22 – 25, 2022.
DOI: 10.1109/CCTA49430.2022.9966034

PhD theses related to CRÈME

Amer Orucevic, "Efficient Propulsion and Practical Stabilization of Underwater Snake Robots", NTNU thesis 2023:429, ISBN 978-82-7560-9.

Henrik M. Schmidt-Didlaukies, "Modeling and Hybrid Feedback Control of Underwater Vehicles", NTNU thesis 2023:130, ISBN 978-82-326-6448-1.

Erlend A. Basso, "Nonlinear and Hybrid Feedback Control of Marine Vehicles and Multirotors", NTNU thesis 2022:373, ISBN 978-82-326-5429-1.