Morten Breivik

Instituttleder

Institutt for teknisk kybernetikk Fakultet for informasjonsteknologi og elektroteknikk

morten.breivik@ntnu.no 41525881

Elektro D/B2, D242, Gløshaugen, O. S. Bragstads plass 2

Jeg er instituttleder ved NTNUs Institutt for teknisk kybernetikk. Samtidig er jeg også assosiert forsker ved NTNUs SFF AMOS. I tillegg er jeg medlem av Teknologirådet og har vært medlem i ekspertgruppen for muliggjørende teknologi ifm. Digital21.

Bakgrunn

Instituttleder, Institutt for teknisk kybernetikk, NTNU (september 2013 - nå)
Avdelingsleder, Kongsberg Maritime (januar 2012 - august 2013)
Sjefingeniør, Kongsberg Maritime (august 2011 - desember 2011)
Forsker, Centre for Ships and Ocean Structures, NTNU (juli 2008 - juni 2011)
Universitetslektor, Institutt for marin teknikk, NTNU (juli 2008 - juni 2010)
Vitenskapelig rådgiver, Maritime Robotics (juni 2007 - desember 2008)
Universitetslektor, Institutt for teknisk kybernetikk, NTNU (juli 2006 - juni 2008)
PhD-stipendiat, Centre for Ships and Ocean Structures, NTNU (juli 2003 - juni 2006)

Utdanning

2010: PhD, teknisk kybernetikk
2003: MSc, teknisk kybernetikk

Forskning og veiledning

Jobber spesielt med forskning på ny teknologi for autonome skip. Leder for tiden prosjektet Autoferry som er en del av NTNUs Digital transformasjon-satsing.

Veileder for PhD-kandidater:

Mikkel Eske Nørgaard Sørensen: Nonlinear and adaptive control of unmanned vehicles for maritime applications
Glenn Ivan Bitar: Energy-optimal and autonomous control for car ferries
Emil Hjelseth Thyri: Automation and autonomy for all-electric autonomous passenger ferries (del av prosjektet Autoferry)
Inger Berge Hagen: Collision avoidance for autonomous ferry (medveileder)
Mathias Marley: Resilient hybrid motion control of autonomous vessels (medveileder)

Uteksaminerte PhD-kandidater:

2019: Bjørn-Olav Holtung Eriksen: Collision avoidance and motion control for autonomous surface vehicles (del av prosjektet Autosea)
2019: Erik Falmår Wilthil: Maritime target tracking with varying sensor performance (medveileder)

Veileder også flere MSc-kandidater, spesielt knyttet opp mot autonome skip.

Bokprosjekt

Vi har mye å lære av historien og jeg har derfor tatt initiativ til og ledet følgende to bokprosjekter:

2014-2019: Alltid rabiat: Jens Glad Balchen og den kybernetiske tenkemåten
2011-2015: Juvelen i kronen: Kongsberg dynamiske posisjoneringssystemer 1975-2015 (finnes også i engelsk utgave: The jewel in the crown: Kongsberg dynamic positioning systems 1975-2015)

Media

SFI Autoship - Eight years with autonomous ships (Ocean Autonomy Cluster, 2021)
Forskningsrådet: 100 millioner til autonome skip (Teknisk Ukeblad, 2020)
Innovation breakfast webinar: Nyhavna - Global leader in autonomous ocean tech (Technoport, 2020)
Ny internasjonal studentkonkurranse for autonome skip (Shipping24, 2020)
Denne prisen setter Norge på det internasjonale kartet (Gemini, 2019)
Den ildfulle ingeniøren og professoren som revolusjonerte norsk teknologiutvikling (Gemini, 2019)
Jens Glad Balchens betydning for kybernetikken (NTNU, 2019)
Alltid rabiat – en ny biografi om Jens Glad Balchen (Fagbokforlaget, 2019)
På Trondheimsfjorden lærer førerløse skip hvordan de skal unngå å kollidere (Adressa, 2019)
NTNU-forskere vil ha senter for autonome skip (Teknisk Ukeblad, 2019)
Nå er det jenteeksplosjon blant «kyberne» (Dagens Næringsliv, 2018)
Førerløse ferger kan erstatte gangbruer (Gemini, 2018)
NTNU satser stort (Teknisk Ukeblad, 2018)
Klekker ut de tekno-smarte løsningene (Adressa, 2018)
NFA-prisen 2017 til Institutt for teknisk kybernetikk (Teknologiske Nyheter, 2018)
Salmar gir ti millioner til professorstilling (Adressa, 2017)
"Kyberne" er fremtidens elite i arbeidslivet (Dagens Næringsliv, 2017)
Robotrevolusjonen (Aktuell Analyse, 2017)
Her er de nye teknologifagene (Teknisk Ukeblad, 2017)
Tester ut elektronisk anker på eget forskningsfartøy (Gemini, 2016)
University students and researchers test own control algorithms on industrial DP system platform (Kongsberg Maritime, 2016)
Verdens første professorat innen "Big Data Cybernetics" (Laagendalsposten, 2015)
Norwegian king receives new book on dynamic positioning (Kongsberg Maritime, 2015)
NTNU-jubileum for kybernetikere (Automatisering, 2015)
Kybernetikere: Teknologiens styrmenn (Næring i Midt-Norge, 2014)
Han utvikler robotene som skal "ta over" jobbene våre (E24, 2014)
NTNU har rekordsøkning til kybernetikk og robotikk (Automatisering, 2014)
NTNU fornyer masterprogrammet i kybernetikk (Automatisering, 2014)
Kybernetikk i verdensklasse (Fremtiden er her, 2013)
Kongsberg Maritime establishes Cybernetics R&D Group (Kongsberg Maritime, 2012)
Ubemannede skip kommer (Adressa, 2011)
Selvstyrte roboter til sjøs (Gemini, 2010)
Formation control at sea using unmanned surface vehicles (YouTube, 2010)
Førerløse båter (Schrødingers Katt, 2009)

Vitenskapelig, faglig og kunstnerisk arbeid

Viser et utvalg av aktivitet. Se alle publikasjoner i databasen

2020

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. 2020 IEEE Conference on Control Technology and Applications (CCTA).
Bitar, Glenn Ivan; Martinsen, Andreas Bell; Lekkas, Anastasios; Breivik, Morten. (2020) Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments. IFAC-PapersOnLine.
Bitar, Glenn Ivan; Martinsen, Andreas Bell; Lekkas, Anastasios; Breivik, Morten. (2020) Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments. IEEE Access. vol. 8.
Eriksen, Bjørn-Olav Holtung; Bitar, Glenn Ivan; Breivik, Morten; Lekkas, Anastasios M.. (2020) Hybrid Collision Avoidance for ASVs Compliant with COLREGs Rules 8 and 13-17. Frontiers in Robotics and AI. vol. 7.
Marley, Mathias; Skjetne, Roger; Breivik, Morten; Fleischer, Caroline. (2020) A hybrid kinematic controller for resilient obstacle avoidance of autonomous ships. IOP Conference Series: Materials Science and Engineering. vol. 929.
Sørensen, Mikkel Nørgaard; Breivik, Morten; Skjetne, Roger. (2020) Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control. IEEE Access. vol. 8.
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. 2020 IEEE Conference on Control Technology and Applications (CCTA).
Thyri, Emil Hjelseth; Breivik, Morten; Lekkas, Anastasios M.. (2020) A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters. IFAC-PapersOnLine.

2019

Bitar, Glenn Ivan; Eriksen, Bjørn-Olav Holtung; Lekkas, Anastasios M.; Breivik, Morten. (2019) Energy-Optimized Hybrid Collision Avoidance for ASVs. 2019 18th European Control Conference (ECC).
Bitar, Glenn Ivan; Vestad, Vegard Nitter; Lekkas, Anastasios M.; Breivik, Morten. (2019) Warm-started optimized trajectory planning for ASVs. IFAC-PapersOnLine. vol. 52 (21).
Brekke, Edmund Førland; Wilthil, Erik Falmår; Eriksen, Bjørn-Olav Holtung; Kufoalor, D. Kwame Minde; Helgesen, Øystein Kaarstad; Hagen, Inger Berge; Breivik, Morten; Johansen, Tor Arne. (2019) The Autosea project: Developing closed-loop target tracking and collision avoidance systems. Journal of Physics: Conference Series. vol. 1357 (1).
Eriksen, Bjørn-Olav Holtung; Breivik, Morten. (2019) Short-term ASV Collision Avoidance with Static and Moving Obstacles. Modeling, Identification and Control. vol. 40 (3).
Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland. (2019) The branching-course model predictive control algorithm for maritime collision avoidance. Journal of Field Robotics (JFR). vol. 36 (7).
Reddy, Namireddy Praveen; Zadeh, Mehdi Karbalaye; Thieme, Christoph Alexander; Skjetne, Roger; Sørensen, Asgeir Johan; Aanondsen, Svein Aanond; Breivik, Morten; Eide, Egil. (2019) Zero-Emission Autonomous Ferries for Urban Water Transport: Cheaper, Cleaner Alternative to Bridges and Manned Vessels. IEEE Electrification Magazine. vol. 7 (4).

2018

Alfheim, Henrik Lemcke; Muggerud, Kjetil; Breivik, Morten; Brekke, Edmund Førland; Eide, Egil; Engelhardtsen, Øystein. (2018) Development of a Dynamic Positioning System for the ReVolt Model Ship. IFAC-PapersOnLine. vol. 51 (29).
Bitar, Glenn Ivan; Breivik, Morten; Lekkas, Anastasios M.. (2018) Energy-Optimized Path Planning for Autonomous Ferries. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018.
Eriksen, Bjørn-Olav Holtung; Breivik, Morten. (2018) A Model-Based Speed and Course Controller for High-Speed ASVs. IFAC-PapersOnLine. vol. 51 (29).
Eriksen, Bjørn-Olav Holtung; Wilthil, Erik Falmår; Flåten, Andreas Lindahl; Brekke, Edmund Førland; Breivik, Morten. (2018) Radar-based Maritime Collision Avoidance using Dynamic Window. IEEE Aerospace Conference. Proceedings. vol. 2018-March.
Lyngstadaas, Ole Nikolai; Sæterdal, Tore Egil; Sørensen, Mikkel Nørgaard; Breivik, Morten. (2018) Improvement of Ship Motion Control Using a Magnitude-Rate Saturation Model. 2018 IEEE Conference on Control Technology and Applications (CCTA).
Serigstad, Einvald; Eriksen, Bjørn-Olav Holtung; Breivik, Morten. (2018) Hybrid Collision Avoidance for Autonomous Surface Vehicles. IFAC-PapersOnLine. vol. 51 (29).
Sørensen, Mikkel Nørgaard; Lyngstadaas, Ole Nikolai; Eriksen, Bjørn-Olav Holtung; Breivik, Morten. (2018) A Dynamic Window-Based Controller for Dynamic Positioning Satisfying Actuator Magnitude Constraints. 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018 Opatija, Croatia, 10–12 September 2018.

2017

Eriksen, Bjørn-Olav Holtung; Breivik, Morten. (2017) MPC-based Mid-level Collision Avoidance for ASVs using Nonlinear Programming. 2017 IEEE Conference on Control Technology and Applications (CCTA).
Eriksen, Bjørn-Olav Holtung; Breivik, Morten. (2017) Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments. Lecture notes in control and information sciences. vol. 474.
Skjetne, Roger; Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan; Kjerstad, Øivind Kåre; Calabrò, Vincenzo; Vinje, Bjørn Ole. (2017) AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus. ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 1: Offshore Technology.
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Eriksen, Bjørn-Olav Holtung. (2017) A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints. 2017 IEEE Conference on Control Technology and Applications (CCTA).
Sørensen, Mikkel Eske Nørgaard; Hansen, Søren; Breivik, Morten; Blanke, Mogens. (2017) Performance comparison of controllers with fault-dependent control allocation for UAVs. Journal of Intelligent and Robotic Systems. vol. 87 (1).

2016

Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. (2016) A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs. Proceedings of 2016 IEEE Conference on Control Applications (CCA).
Lekkas, Anastasios M.; Roald, Ann Louise; Breivik, Morten. (2016) Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control. IFAC-PapersOnLine. vol. 49 (23).
Rabanal, Ole Maurice Røste; Brodtkorb, Astrid H.; Breivik, Morten. (2016) Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas. IFAC-PapersOnLine. vol. 49 (23).
Sørensen, Mikkel Eske Nørgaard; Bjørne, Elias; Breivik, Morten. (2016) Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels. Proceedings of 2016 IEEE Conference on Control Applications (CCA).
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten. (2016) Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels. IFAC-PapersOnLine. vol. 49 (23).

2015

Breivik, Morten; Kvaal, Stig; Østby, Per. (2015) From Eureka to K-Pos: Dynamic Positioning as a Highly Successful and Important Marine Control Technology. IFAC-PapersOnLine. vol. 48 (16).
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten. (2015) UAV Fault-Tolerant Control by Combined L1 Adaptive Backstepping and Fault-dependent Control Allocation. 2015 IEEE Conference on Control Applications, CCA 2015.
Sørensen, Mikkel Eske Nørgaard; Breivik, Morten. (2015) Comparing Nonlinear Adaptive Motion Controllers for Marine Surface Vessels. IFAC-PapersOnLine. vol. 48 (16).

2014

Buljo, Tom Runar; Breivik, Morten. (2014) Kybernetikere: Teknologiens styrmenn. Næring i Midt-Norge. vol. 1 (2).

2013

Lekkas, Anastasios; Dahl, Andreas R; Breivik, Morten; Fossen, Thor I.. (2013) Continuous-Curvature Path Generation using Fermat's Spiral. Modeling, Identification and Control. vol. 34 (4).

2011

Breivik, Morten; Loberg, Jon-Erik. (2011) A Virtual Target-Based Underway Docking Procedure for Unmanned Surface Vehicles. Elsevier IFAC Publications / IFAC Proceedings series. vol. 18 (1).
Skejic, Renato; Berg, Tor Einar; Breivik, Morten. (2011) Investigating Ship Manoeuvers around a Floating Structure under the Influence of a Uniform Current in Deep and Calm Water. 2nd International Conference on Ship Manoeuvring in Shallow and Confined Water: Ship to Ship Interaction, Conference Proceedings.

2010

Breivik, Morten; Fossen, Thor I.. (2010) Topics in Guided Motion Control of Marine Vehicles. 2010. Doktoravhandlinger ved NTNU (2010:63).
Haugen, Joakim; Breivik, Morten. (2010) A Speed Control Algorithm for Planar Path Maneuvering. Elsevier IFAC Publications / IFAC Proceedings series.
Kjerstad, Øivind Kåre; Breivik, Morten. (2010) Weather Optimal Positioning Control for Marine Surface Vessels. Elsevier IFAC Publications / IFAC Proceedings series.

2009

Alme, Jon; Breivik, Morten. (2009) Autotuning Aspects for Dynamic Positioning Systems. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
Breivik, Morten; Fossen, Thor I.. (2009) Guidance Laws for Autonomous Underwater Vehicles. Underwater Vehicles.
Breivik, Morten; Hovland, Geir; From, Pål Johan. (2009) Trends in Research and Publication: Science 2.0 and Open Access. Modeling, Identification and Control. vol. 30 (3).
Breivik, Morten; Sand, Gunnar. (2009) Jens Glad Balchen: A Norwegian Pioneer in Engineering Cybernetics. Modeling, Identification and Control. vol. 30 (3).
Jensen, Gullik A.; Breivik, Morten; Fossen, Thor I.. (2009) Offshore Pipelay Operations From a Control Perspective. Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering - OMAE2009.
Pavlov, Alexey; Nordahl, Håvard; Breivik, Morten. (2009) MPC-Based Optimal Path Following for Underactuated Vessels. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.
Skejic, Renato; Breivik, Morten; Fossen, Thor I.; Faltinsen, Odd Magnus. (2009) Modeling and Control of Underway Replenishment Operations in Calm Water. Proceedings of the 8th IFAC MCMC . IFAC; Guaruja. 2009-09-16 - 2009-09-18.

2008

Breivik, Morten; Fossen, Thor I.. (2008) Guidance Laws for Planar Motion Control. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.
Breivik, Morten; Hovstein, Vegard Evjen; Fossen, Thor I.. (2008) Ship Formation Control: A Guided Leader-Follower Approach. Elsevier IFAC Publications / IFAC Proceedings series.
Breivik, Morten; Hovstein, Vegard Evjen; Fossen, Thor I.. (2008) Straight-Line Target Tracking for Unmanned Surface Vehicles. Modeling, Identification and Control. vol. 29 (4).

2007

Breivik, Morten; Fossen, Thor Inge. (2007) Applying Missile Guidance Concepts to Motion Control of Marine Craft. 7th IFAC Conference on Control Applications in Marine Systems ; 2007-09-18 - 2007-09-21.

2006

Breivik, Morten. (2006) Marine craft: 21st century motion control concepts. Sea Technology. vol. 47 (3).
Breivik, Morten; Fossen, Thor Inge. (2006) A Unified Control Concept for Autonomous Underwater Vehicles. American Control Conference (ACC).
Breivik, Morten; Fossen, Thor Inge. (2006) Motion Control Concepts for Trajectory Tracking of Fully Actuated Ships. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
Breivik, Morten; Strand, Jann Peter; Fossen, Thor Inge. (2006) Guided Dynamic Positioning for Fully Actuated Marine Surface Vessels. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. (2006) Guided Formation Control for Fully Actuated Marine Surface Craft. 7th IFAC Conference on Manoeuvring and Control of Marine Craft ; 2006-09-20 - 2006-09-22.
Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. (2006) Guided Formation Control for Wheeled Mobile Robots. Proceedings of the International Conference on Control, Automation, Robotics and Vision 2006.
Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. (2006) Kinematic aspects of guided formation control in 2D. Lecture notes in control and information sciences. vol. 336.

2005

Breivik, Morten; Fossen, Thor Inge. (2005) A Unified Concept for Controlling a Marine Surface Vessel Through the Entire Speed Envelope. Proceedings of the 2005 IEEE International Symposium on Intelligent Control and 2005 Mediterranean Conference on Control and Automation.
Breivik, Morten; Fossen, Thor Inge. (2005) Guidance-Based Path Following for Autonomous Underwater Vehicles. OCEANS.
Breivik, Morten; Fossen, Thor Inge. (2005) Guidance-Based Path Following for Wheeled Mobile Robots. Elsevier IFAC Publications / IFAC Proceedings series.
Breivik, Morten; Fossen, Thor Inge. (2005) Principles of Guidance-Based Path Following in 2D and 3D. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes.

2004

Breivik, Morten; Fossen, Thor Inge. (2004) Path Following for Marine Surface Vessels. OTO'04 . IEEE/OES, MTS, CJO; Kobe. 2004-11-09 - 2004-11-12.
Breivik, Morten; Fossen, Thor Inge. (2004) Path Following of Straight Lines and Circles for Marine Surface Vessels. 6th IFAC CAMS . IFAC; Ancona. 2004-07-07 - 2004-07-09.

2003

Fossen, Thor Inge; Breivik, Morten; Skjetne, Roger. (2003) Line-of-Sight Path Following of Underactuated Marine Craft. 6th IFAC MCMC . IFAC; Girona. 2003-09-17 - 2003-09-19.