2025

• Maurer, Finn Gross; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Bryne, Torleiv Håland. (2025) Position Measurement Outlier Detection for Lie-Group-Based Navigation Filters Utilizing Gaussian Mixtures. IEEE Conference on Control Technology and Applications (CCTA)
  Vitenskapelig artikkel
• Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2025) Line-of-Sight Guidance: Learning to Look Ahead in Three Dimensions. IEEE Control Systems Letters
  Vitenskapelig artikkel

2024

• Bryne, Torleiv Håland; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik. (2024) Correlated Process and Measurement Noise in Kalman Filtering Revisited: A Case Study on Initialization and Leveling in Inertial Navigation Systems. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2024) Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees. IEEE Control Systems Letters
  Vitenskapelig artikkel
• Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Line-of-Sight Guidance: Learning to Look Ahead. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel
• Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Model Predictive Task-Priority Control using Control Lyapunov Functions.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2024) Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Dyrhaug, Jan Inge; Foseid, Eirik Lothe; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Super-Twisting Impedance Control for Robust and Compliant Interaction using a Redundant Robot Manipulator. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Hoff, Simon Andreas Hagen; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Varagnolo, Damiano; Pettersen, Kristin Ytterstad. (2024) Underwater vehicle navigation using bearing measurements from a mobile beacon. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Tengesdal, Trym; Rothmund, Sverre Velten; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Johansen, Tor Arne. (2024) Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-Scale Experiments in Confined Waters. Field Robotics
  Vitenskapelig artikkel
• Foseid, Eirik Lothe; Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Marley, Mathias Huuse; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Learning Optimal Guidance Schemes with Safety Guarantees for Underactuated Marine Vehicles. IFAC-PapersOnLine
  Vitenskapelig artikkel

2023

• Iversflaten, Markus Høgevoll; Sæbø, Bjørn Kåre; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Task-Priority Operational Space Control for Vehicle-Manipulator Systems with Modelling Errors. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Dyrhaug, Jan Inge; Tveter, Erling; Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2023) Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback. IEEE Control Systems Letters
  Vitenskapelig artikkel
• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Synergistic PID and Output Feedback Control on Matrix Lie Groups. IFAC-PapersOnLine
  Vitenskapelig artikkel

2022

• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2022) Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback. IEEE Transactions on Automatic Control
  Vitenskapelig artikkel
• Schmidt-Didlaukies, Henrik; Basso, Erlend Andreas; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2022) A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2021

• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2021) Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Matous, Josef; Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad. (2021) Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Marley, Mathias; Skjetne, Roger; Basso, Erlend Andreas; Teel, Andrew R.. (2021) Maneuvering with safety guarantees using control barrier functions. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2021) Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Basso, Erlend Andreas; Pettersen, Kristin Ytterstad. (2021) MIMO Feedback Linearization of Redundant Robotic Systems Using Task-Priority Operational Space Control. IFAC-PapersOnLine
  Vitenskapelig artikkel

2020

• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2020) Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Thyri, Emil Hjelseth; Basso, Erlend Andreas; Breivik, Morten; Pettersen, Kristin Ytterstad; Skjetne, Roger; Lekkas, Anastasios M.. (2020) Reactive collision avoidance for ASVs based on control barrier functions.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad; Breivik, Morten; Skjetne, Roger. (2020) Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel