2024

• Hoff, Simon Andreas Hagen; Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad. (2024) Communication-aware formation control for networks of AUVs. European Journal of Control
  Vitenskapelig artikkel
• 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
  Vitenskapelig artikkel
• Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Automatic alignment of underwater snake robots operating in wakes of bluff bodies. Control Engineering Practice
  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
• Orucevic, Amer; Foseid, Eirik Lothe; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Nonlinear model predictive control for sinusoidal gait tracking for an underwater snake robot. IFAC-PapersOnLine
  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
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Matous, Josef; Paliotta, Claudio; Pettersen, Kristin Ytterstad; Varagnolo, Damiano. (2024) The Hand Position Concept for Control of Underactuated Underwater Vehicles. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio. (2024) A Distributed NSB Algorithm for Formation Path Following. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Iversflaten, Markus Høgevoll; Schmidt-Didlaukies, Henrik; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2024) Centralized Underwater Cooperative Transport with Safety Constraints. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Tveter, Erling; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Power-Based Safety Constraint for Redundant Robotic Manipulators. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sæbø, Bjørn Kåre; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2024) Kinematic Task-Priority Path Following for Articulated Marine Vehicles. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Dyrhaug, Jan Inge; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2024) Robust Interaction using Generalized Super-Twisting Impedance Control. 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

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
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
• Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2023) Modeling and Hybrid Feedback Control of Underwater Vehicles. NTNU
  Doktorgradsavhandling
• 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
• Orucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Gushkov, Ivan Ivanov; Orucevic, Amer; Pettersen, Kristin Ytterstad; Yao, Weijia; Gravdahl, Jan Tommy. (2023) Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
• 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
• Orucevic, Amer; Wrzos-Kaminska, Marianna; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2023) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Nysæther, Torje; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2023) Hierarchical Compliance-Control-Based Docking of a UVMS. OCEANS
  Vitenskapelig artikkel
• D'Antuono, Gianluca; Pettersen, Kristin Ytterstad; Buonocore, Luca Rosario; Gravdahl, Jan Tommy; Di Castro, Mario. (2023) Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation. IFAC Papers Online
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Matous, Josef; Pettersen, Kristin Ytterstad; Varagnolo, Damiano; Paliotta, Claudio. (2023) Singularity-free Formation Path Following of Underactuated AUVs. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Lysø, Mads Erlend Bøe; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2023) Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion. Elsevier
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Das, Hemjyoti; Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Ott, Christian. (2023) Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Lie, Erling Syversveen; Matous, Josef; Pettersen, Kristin Ytterstad. (2023) Formation Control of Underactuated AUVs Using the Hand Position Concept​. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Seel, Katrine; Gravdahl, Jan Tommy; Gros, Sebastien Nicolas; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Moe, Signe. (2023) Learning for Model Predictive Control. NTNU
  Doktorgradsavhandling

2022

• Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine. (2022) Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
• Scarpa, Maria; Nortmann, Benita; Pettersen, Kristin Ytterstad; Mylvaganam, Thulasi. (2022) Data-driven control of planar snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Iversflaten, Markus Høgevoll; Haraldsen, Aurora; Pettersen, Kristin Ytterstad. (2022) Kinematic and Dynamic Control of Cooperating Underwater Vehicle-Manipulator Systems. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sæbø, Bjørn Kåre; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2022) Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Gravdahl, Irja; Stavdahl, Øyvind; Koushan, Atussa; Løwer, Jostein; Pettersen, Kristin Ytterstad. (2022) Modeling for Hybrid Obstacle-Aided Locomotion (HOAL) of Snake Robots. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Matous, Josef; Varagnolo, Damiano; Pettersen, Kristin Ytterstad; Paliotta, Claudio. (2022) Distributed MPC for Formation Path-Following of Multi-Vehicle Systems. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2022) The generalized super-twisting algorithm with adaptive gains. International Journal of Robust and Nonlinear Control
  Vitenskapelig artikkel

2021

• Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad. (2021) Autonomous ROV inspections of aquaculture net pens using DVL. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel
• Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Eek, Åsmund; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2021) Formation Path Following Control of Underactuated USVs. European Journal of Control
  Vitenskapelig artikkel
• Matous, Josef; Basso, Erlend Andreas; Thyri, Emil Hjelseth; Pettersen, Kristin Ytterstad. (2021) Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• 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
  Vitenskapelig artikkel
• Bonsignorio, Fabio; Zereik, Enrica; Bibuli, Marco; Pettersen, Kristin Ytterstad; Khatib, Oussama. (2021) Editorial: Advanced Control Methods in Marine Robotics Applications. Frontiers in Robotics and AI
  Leder
• Seel, Katrine; Haring, Mark A. M.; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Seel, Katrine; Grøtli, Esten Ingar; Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2021) Neural Network-based Model Predictive Control with Input-to-State Stability. American Control Conference (ACC)
  Vitenskapelig artikkel
• 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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Y.. (2021) Path Planning for UGVs Based on Traversability Hybrid A*. IEEE Robotics and Automation Letters
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2021) Comparison of two second-order sliding mode control algorithms for an articulated intervention AUV: Theory and experimental results. Ocean Engineering
  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
• Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad. (2021) Vehicle Safety of the Velocity Obstacle Algorithm. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel

2020

• Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk. (2020) A 3D reactive collision avoidance algorithm for underactuated underwater vehicles. Journal of Field Robotics (JFR)
  Vitenskapelig artikkel
• Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Set-based collision avoidance applications to robotic systems. Mechatronics (Oxford)
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems. Mechatronics (Oxford)
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) The generalized super-twisting algorithm with adaptive gains. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Basso, Erlend Andreas; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad. (2020) Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
  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. IEEE conference proceedings
  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. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2020) Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2019

• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2019) Collision Avoidance and Path Following for Underactuated Marine Vehicles. Doktoravhandlinger ved NTNU (2019:103)
  Doktorgradsavhandling
• Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2019) Path planning and guidance for underactuated vehicles with limited field-of-view. Ocean Engineering
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Combined kinematic and dynamic control of an underwater swimming manipulator. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Vehicles. Springer
  Faglig kapittel
• Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2019) Guidance of Autonomous Underwater Vehicles. Springer
  Faglig kapittel
• Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy. (2019) Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots. Frontiers in Robotics and AI
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2019) Modeling of Underwater Snake Robots. Springer
  Faglig kapittel
• Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2019) AUV guidance and docking using a convolutional neural network. IFAC Journal of Systems and Control
  Vitenskapelig artikkel
• Nonhoff, Marko; köhler, philipp; Kohl, Anna M; Pettersen, Kristin Ytterstad; Allgower, Frank. (2019) Economic model predictive control for snake robot locomotion. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel
• Belleter, Dennis Johannes Wouter; Braga, Jose; Pettersen, Kristin Ytterstad. (2019) Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles. Frontiers in Robotics and AI
  Vitenskapelig artikkel
• Wrzos-Kaminska, Marianna; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Path following control for articulated intervention-AUVs using geometric control of reduced attitude. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy. (2019) Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2019) Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm. American Control Conference (ACC)
  Vitenskapelig artikkel
• Wiig, Martin Syre; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2019) Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad. (2019) Corrigendum to “Lyapunov sufficient conditions for uniform semiglobal exponential stability” [Automatica 78 (2017) 97–102](S0005109816304964)(10.1016/j.automatica.2016.12.004). Automatica
  Errata

2018

• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk. (2018) An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Parameter Estimation in Atomic Force Microscopy: Nanomechanical Properties and High-speed Demodulation. Doktoravhandlinger ved NTNU (146)
  Doktorgradsavhandling
• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2018) A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Kohl, Anna M; Pettersen, Kristin Ytterstad; Hoffmann, Bjørn Håvard; Gravdahl, Jan Tommy. (2018) Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin. Annual Reviews in Control
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Gravdahl, Jan Tommy; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Loria, Antonio. (2018) Trajectory tracking for underwater swimming manipulators using a super twisting algorithm. Asian journal of control
  Vitenskapelig artikkel
• Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2018) Semiglobal exponential stability of a counter-current and co-current guidance scheme. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Trajectory tracking for an articulated intervention AUV using a super-twisting algorithm in 6 DOF. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) Locomotion efficiency optimization of biologically inspired snake robots. Applied Sciences
  Vitenskapelig artikkel
• Schmidt-Didlaukies, Henrik; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2018) Modeling of Articulated Underwater Robots for Simulation and Control. IEEE Press
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Moe, Signe; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2018) Set-Based Control for Autonomous Spray Painting. IEEE Transactions on Automation Science and Engineering
  Vitenskapelig artikkel
• Amundsen, Morten Fyhn; Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2018) Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2018) The underwater swimming manipulator — A bioinspired solution for subsea operations. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad. (2018) 2nd IEEE Conference on Control Technology and Applications. IEEE conference proceedings IEEE conference proceedings
  Vitenskapelig antologi/Konferanseserie
• Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Pinto, José; Costa, Maria; Borgesde de Sousa, João Tasso de Figueiredo. (2018) Trajectory Tracking and Path Following for Underactuated Marine Vehicles. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel

2017

• Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2017) Control of Under-actuated Marine Vehicles. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (240)
  Doktorgradsavhandling
• Fossen, Thor I.; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2017) Preface. Lecture notes in control and information sciences
  Leder
• Kohl, Anna M; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Model-based LOS path-following control of planar underwater snake robots. Lecture notes in control and information sciences
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan. (2017) Modeling and Propulsion Methods of Underwater Snake Robots. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Pettersen, Kristin Ytterstad. (2017) Snake Robots. Annual Reviews in Control
  Vitenskapelig oversiktsartikkel/review
• Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2017) Leader-Follower Synchronisation for a Class of Underactuated Systems. Springer
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Pettersen, Kristin Ytterstad. (2017) Lyapunov sufficient conditions for uniform semiglobal exponential stability. Automatica
  Vitenskapelig artikkel
• Maghenem, Mohamed; Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2017) Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2017) A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel
• Moe, Signe; Pettersen, Kristin Ytterstad. (2017) Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Savkin, Andrey. (2017) A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. IEEE Control Systems
  Vitenskapelig artikkel
• Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2017) Spiral path planning for docking of underactuated vehicles with limited FOV. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sans-Muntadas, Albert; Brekke, Edmund Førland; Pettersen, Kristin Ytterstad. (2017) Vehicle Guidance with Control Action Computed by a Rao-Blackwellized Particle Filter. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2017) A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel
• Sans-Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland; Kelasidi, Eleni. (2017) Learning an AUV docking maneuver with a convolutional neural network. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Set-based path following and obstacle avoidance for underwater snake robots. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2017) Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy. IEEE Control Systems
  Vitenskapelig artikkel
• Fossen, Thor I.; Nijmeijer, Henk; Pettersen, Kristin Ytterstad. (2017) Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles. Springer Lecture notes in control and information sciences (-)
  Vitenskapelig antologi/Konferanseserie
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy. (2017) An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. IEEE Transactions on Robotics
  Vitenskapelig artikkel
• Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kohl, Anna M; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2017) Velocity and orientation control of underwater snake robots using absolute velocity feedback. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2016

• Sans Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland. (2016) Vision Restricted Path Planning and Control for Underactuated Vehicles. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kelasidi, Eleni; Kohl, Anna Magdalena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Waypoint guidance control for underwater snake robots exposed to ocean currents. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. IEEE robotics & automation magazine
  Vitenskapelig artikkel
• Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2016) Geometric path following with ocean current estimation for ASVs and AUVs. American Control Conference (ACC)
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Hofmann, Andreas. (2016) Formation Control of Underactuated Bio-inspired Snake Robots. Artificial Life and Robotics
  Vitenskapelig artikkel
• Syre Wiig, Martin; Caharija, Walter; Krogstad, Thomas Røbekk; Pettersen, Kristin Ytterstad. (2016) Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kohl, Anna Magdalena; Kelasidi, Eleni; Mohammadi, Alireza; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Planar maneuvering control of underwater snake robots using virtual holonomic constraints. Bioinspiration & Biomimetics
  Vitenskapelig artikkel
• Belleter, Dennis Johannes Wouter; Paliotta, Claudio; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Path Following for Underactuated Marine Vessels. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Eriksen, Bjørn-Olav Holtung; Breivik, Morten; Pettersen, Kristin Ytterstad; Syre Wiig, Martin. (2016) A modified dynamic window algorithm for horizontal collision avoidance for AUVs. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Modeling of underwater swimming manipulators. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) A control framework for biologically inspired underwater swimming manipulators equipped with thrusters. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sans-Muntadas, Albert; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland; Henriksen, Vegard Flage. (2016) A hybrid approach to underwater docking of AUVs with cross-current. OCEANS
  Vitenskapelig artikkel
• Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2016) Leader-follower synchronization with disturbance rejection. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Xidias, Elias K.; Paliotta, Claudio; Aspragathos, Nikos A.; Pettersen, Kristin Ytterstad. (2016) Path Planning for Formation Control of Autonomous Vehicles . Springer
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2016) Planar path following of underwater snake robots in the presence of ocean currents. IEEE Robotics and Automation Letters
  Vitenskapelig artikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Styve, Arne; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2016) Integrated Flexible Maritime Crane Architecture for the Offshore Simulation Centre AS (OSC): A Flexible Framework for Alternative Maritime Crane Control Algorithms. IEEE Journal of Oceanic Engineering
  Vitenskapelig artikkel
• Vagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2016) Nonlinear Tracking Control Scheme for a Nanopositioner. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• Moe, Signe; Pettersen, Kristin Ytterstad; Fossen, Thor I.; Gravdahl, Jan Tommy. (2016) Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents. IEEE Mediterranean Conference on Control & Automation
  Vitenskapelig artikkel
• Moe, Signe; Pettersen, Kristin Ytterstad. (2016) Set-based Line-of-Sight (LOS) path following with collision avoidance for underactuated unmanned surface vessel. IEEE Mediterranean Conference on Control & Automation
  Vitenskapelig artikkel
• Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2016) Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Bibuli, Marco; Calado, Pável; Zereik, Enrica; Braga, Jose. (2016) Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations and Experiments. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) The Underwater Swimming Manipulator - A Bio-Inspired AUV. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Multi-objective optimization for efficient motion of underwater snake robots. Artificial Life and Robotics
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2016) Locomotion Efficiency of Underwater Snake Robots with Thrusters. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Moe, Signe; Antonelli, Gianluca; Teel, Andrew R.; Pettersen, Kristin Ytterstad; Schrimpf, Johannes. (2016) Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results. Frontiers in Robotics and AI
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Liljebäck, Pål. (2016) Slangeroboter forbedrer subsea inspeksjon og vedlikehold. DYP - Magasinet fra Forening for Fjernstyrt Undervannsteknologi
  Populærvitenskapelig artikkel

2015

• Ohrem, Sveinung Johan; Pettersen, Kristin Ytterstad; Møller, Ments Tore; Slettebø, Sverre Wendt. (2015) Development of a Dynamic Positioning System for Merlin WR200 ROV. NTNU
  Mastergradsoppgave
• Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad; Schrimpf, Johannes. (2015) Experimental Results for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Pettersen, Kristin Ytterstad. (2015) OpenMRH: a Modular Robotic Hand Generator Plugin for Open Rave. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances. American Control Conference (ACC)
  Vitenskapelig artikkel
• Eriksen, Bjørn-Olav Holtung; Pettersen, Kristin Ytterstad; Syre Wiig, Martin; Krogstad, Thomas Røbekk. (2015) Horizontal Collision Avoidance for Autonomous Underwater Vehicles. Norwegian University of Science and Technology
  Mastergradsoppgave
• Ragazzon, Michael Remo Palmén; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Eielsen, Arnfinn Aas. (2015) Topography and force imaging in atomic force microscopy by state and parameter estimation. American Control Conference (ACC)
  Vitenskapelig artikkel
• Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Ytterstad. (2015) Trajectory Tracking of Under-Actuated Marine Vehicles. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad. (2015) Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel
• Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Path Following for Formations of Underactuated Marine Vessels under Influence of Constant Ocean Currents. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel
• Fossen, Thor I.; Pettersen, Kristin Ytterstad; Galeazzi, Roberto. (2015) Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Sanfilippo, Filippo; Pettersen, Kristin Ytterstad. (2015) A Sensor Fusion Wearable Health-Monitoring System with Haptic Feedback. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad. (2015) Controlling Kuka Industrial Robots : Flexible Communication Interface JOpenShowVar. IEEE robotics & automation magazine
  Vitenskapelig artikkel
• Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns. Robotics and Biomimetics
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Calado, Pável; Braga, Jose. (2015) A comparison between the ILOS guidance and the vector field guidance. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sans Muntadas, Albert; Brekke, Edmund Førland; Hegrenæs, Øyvind; Pettersen, Kristin Ytterstad. (2015) Navigation and probability assessment for successful AUV docking using USBL. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kohl, Anna; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy. (2015) Analysis of underwater snake robot locomotion based on a control-oriented model. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk. (2015) Uniform semiglobal exponential stability of integral line-of-sight guidance laws. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater robots. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Path Following with Disturbance Rejection for Inhomogeneous Formations with Underactuated Agents. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Paliotta, Claudio; Pettersen, Kristin Ytterstad. (2015) Source Seeking With a Variable Leader Multi-Agent Fixed Topology Network. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Paliotta, Claudio; Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) Adaptive source seeking with leader-follower formation control. IFAC-PapersOnLine
  Vitenskapelig artikkel
• Sanfilippo, Filippo; Zhang, Houxiang; Pettersen, Kristin Ytterstad. (2015) The new architecture of ModGrasp for mind-controlled low-cost sensorised modular hands. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Rekdalsbakken, Webjørn; Pettersen, Kristin Ytterstad. (2015) A wave simulator and active heave compensation framework for demanding offshore crane operations. Canadian Conference on Electrical and Computer Engineering (CCECE)
  Vitenskapelig artikkel
• Kohl, Anna; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) A control-oriented model of underwater snake robots exposed to currents. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2015) Modeling, Control and Energy Efficiency of Underwater Snake Robots. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (140)
  Doktorgradsavhandling
• Moe, Signe; Teel, Andrew R.; Antonelli, Gianluca; Pettersen, Kristin Ytterstad. (2015) Stability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad. (2015) 3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Weustink, Paul B T; Pettersen, Kristin Ytterstad. (2015) A Coupling Library for the Force Dimension Haptic Devices and the 20-sim Modelling and Simulation Environment. IEEE Press
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad. (2015) Model-based Locomotion Control of Underactuated Snake Robots. Norges teknisk-naturvitenskapelige universitet Norges teknisk-naturvitenskapelige universitet
  Doktorgradsavhandling
• Sanfilippo, Filippo; Pettersen, Kristin Ytterstad. (2015) XBee positioning system with embedded haptic feedback for dangerous offshore operations: a preliminary study. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Fernandes, Daniel de Almeida; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Donha, Decio C. (2015) Output feedback motion control system for observation class ROVs based on a high-gain state observer: Theoretical and experimental results. Control Engineering Practice
  Vitenskapelig artikkel
• Antonelli, Gianluca; Moe, Signe; Pettersen, Kristin Ytterstad. (2015) Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2015) Energy efficiency of underwater snake robot locomotion. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel

2014

• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad. (2014) Maneuvering Control of Planar Snake Robots Based on a Simplified Model. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad. (2014) Null-Space-Based Behavior Guidance of Planar Dual-Arm UVMS. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad. (2014) Improved Counter-Current and Co-Current Guidance of Underactuated Marine Vehicles with Semiglobal Stability Properties. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Bibuli, Marco; Caharija, Walter; Pettersen, Kristin Ytterstad; Bruzzone, Gabriele; Caccia, Massimo; Zereik, Enrica. (2014) ILOS Guidance - Experiments and Tuning. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad. (2014) JOpenShowVar: An open-source cross-platform communication interface to Kuka robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2014) Vehicle-Manipulator Systems. Springer Advances in Industrial Control (1)
  Vitenskapelig monografi
• Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid. (2014) Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents. American Control Conference (ACC)
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Fossen, Thor I.; Pettersen, Kristin Ytterstad. (2014) On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica
  Vitenskapelig artikkel
• Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid. (2014) Path Following of Underactuated Marine Underwater Vehicles in the Presence of Unknown Ocean Currents. The American Society of Mechanical Engineers (ASME)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad; Mohammadi, Alireza; Maggiore, Manfredi. (2014) Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model. Proceedings of the IEEE Conference on Control Applications
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål. (2014) Modeling of underwater snake robots. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Mamba - A waterproof snake robot with tactile sensing. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) A 3D motion planning framework for snake robots. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2014) Compliant Control of the Body Shape of Snake Robots. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Bjerkeng, Magnus Christian; Schrimpf, Johannes; Myhre, Torstein Anderssen; Pettersen, Kristin Ytterstad. (2014) Fast dual-arm manipulation using variable admittance control: Implementation and experimental results. Curran Associates, Inc.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Pettersen, Kristin Ytterstad. (2014) A mapping approach for controlling different maritime cranes and robots using ANN. IEEE (Institute of Electrical and Electronics Engineers)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni. (2014) Path following control of planar snake robots using virtual holonomic constraints: theory and experiments. Robotics and Biomimetics
  Vitenskapelig artikkel
• Sanfilippo, Filippo; Zhang, Houxiang; Pettersen, Kristin Ytterstad; Salvietti, G.; Prattichizzo, Domenico. (2014) ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2014) Integral Line-of-Sight for path following of underwater snake robots. Proceedings of the IEEE Conference on Control Applications
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad. (2014) Underactuated Marine Control Systems. Springer
  Faglig kapittel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) Modeling of underwater snake robots moving in a vertical plane in 3D. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A waypoint guidance strategy for underwater snake robots. Mediterranean Conference on Control and Automation (MED)
  Vitenskapelig artikkel
• Bjerkeng, Magnus Christian; Falco, Pietro; Natale, Ciro; Pettersen, Kristin Ytterstad. (2014) Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-based Control of Robotic Systems. IEEE Transactions on Robotics
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan; Candeloro, Mauro; Gravdahl, Jan Tommy. (2014) Relative velocity control and integral line of sight for path following of autonomous surface vessels: Merging intuition with theory. Journal of Engineering for the Maritime Environment (Part M)
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad. (2014) Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (316)
  Doktorgradsavhandling
• Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2014) A Control-Oriented Model of Underwater Snake Robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel

2013

• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - Modelling, Mechatronics, and Control. Springer Advances in Industrial Control (.)
  Vitenskapelig monografi
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Marine Surface Vessels with Saturated Transverse Actuators. American Control Conference (ACC)
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Snake Robots - From Biology to Nonlinear Control. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Lateral undulation of snake robots: A simplified model and fundamental properties. Robotica (Cambridge. Print)
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Fixed-Structure, Low-Order Damping and Tracking Control Schemes for Nanopositioning. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Vagia, Marialena; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Design of a nonlinear damping control scheme for nanopositioning. IEEE ASME International Conference on Advanced Intelligent Mechatronics
  Vitenskapelig artikkel
• Holden, Christian; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2013) Optimal Mapping from a Continuous 3D Curve to the Position and Shape of a Snake Robot. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Eielsen, Arnfinn Aas; Vagia, Marialena; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2013) Damping and Tracking Control Schemes for Nanopositioning. IEEE/ASME transactions on mechatronics
  Vitenskapelig artikkel
• Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2013) Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Sanfilippo, Filippo; Hatledal, Lars Ivar; Schaathun, Hans Georg; Pettersen, Kristin Ytterstad; Zhang, Houxiang. (2013) A universal Control architecture for maritime Cranes and robots using Genetic algorithms as a possible mapping approach. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Bjerkeng, Magnus Christian; falco, pietro; natale, ciro; Pettersen, Kristin Ytterstad. (2013) Discrete-time stability analysis of a control architecture for heterogeneous robotic systems. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• Bjerkeng, Magnus Christian; Pettersen, Kristin Ytterstad. (2013) Sensor-based Control of Industrial Manipulators. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (240)
  Doktorgradsavhandling
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Path Following of Underactuated Surface Vessels in Presence of Unknown Constant Environmental Forces: Preliminary Results. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2013) Counter-Current and Co-Current Guidance of Underactuated Unmanned Marine Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel

2012

• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A review on modelling, implementation, and control of snake robots. Robotics and Autonomous Systems
  Vitenskapelig artikkel
• Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2012) Path following control of planar snake robots using a cascaded approach. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Galeazzi, Roberto; Pettersen, Kristin Ytterstad. (2012) Controlling Parametric Resonance: Induction and Stabilization of Unstable Motions. Springer
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Bjerkeng, Magnus; Pettersen, Kristin Ytterstad. (2012) A new Coriolis matrix factorization. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2012) A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan. (2012) Topics on Current Compensation for Path Following Applications of Underactuated Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Ocean Currents. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Caharija, Walter; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Børhaug, Even. (2012) Integral LOS Guidance for Horizontal Path Following of Underactuated Autonomous Underwater Vehicles in the Presence of Vertical Ocean Currents. American Control Conference (ACC)
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2012) Snake Robot Locomotion in Environments With Obstacles. IEEE/ASME transactions on mechatronics
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2012) Adaptive feed-forward hysteresis compensation for piezoelectric actuators. Review of Scientific Instruments
  Vitenskapelig artikkel
• From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2012) On the Boundedness Property of the Inertia Matrix and Skew-Symmetric Property of the Coriolis Matrix for Vehicle-Manipulator Systems. Journal of Dynamic Systems Measurement, and Control
  Vitenskapelig artikkel
• Caharija, Walter; Candeloro, Mauro; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2012) Relative Velocity Control and Integral LOS for Path Following of Underactuated Surface Vessels in the Presence of Ocean Currents. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel

2011

• Børhaug, Even; Pavlov, Alexey; Panteley, Elena; Pettersen, Kristin Ytterstad. (2011) Straight Line Path Following for Formations of Underactuated Marine Surface Vessels. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Wondergem, Michiel; Lefeber, Erjen; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2011) Output Feedback Tracking of Ships. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Burger, Mernout; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad. (2011) PI2-Controller Applied to a Piezoelectric Nanopositioner Using Conditional Integrators and Optimal Tuning. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes. (2011) Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2011) Experimental investigation of a path following controller for planar snake robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Experimental investigation of fundamental properties of snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) A Singularity Free Formulation of the Dynamically Equivalent Manipulator Mapping of Space Manipulators. American Institute of Aeronautics and Astronautics (AIAA)
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Stability analysis of snake robot locomotion based on averaging theory. IEEE Conference on Decision and Control. Proceedings
  Vitenskapelig artikkel
• Bjerkeng, Magnus; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik. (2011) Stereographic projection for industrial manipulator tasks: Theory and experiments. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Singularity-free dynamic equations of spacecraft-manipulator systems. Acta Astronautica
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Path following control of snake robots in unstructured environments. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad. (2011) Waypoint guidance control of snake robots. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2011) Two new design concepts for snake robot locomotion in unstructured environments. Paladyn - Journal of Behavioral Robotics
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. IEEE transactions on robotics and automation
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2011) Controllability and Stability Analysis of Planar Snake Robot Locomotion. IEEE Transactions on Automatic Control
  Vitenskapelig artikkel
• Burger, Mernout; Pettersen, Kristin Ytterstad. (2011) Disturbance Rejection using Conditional Integrators. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (4)
  Doktorgradsavhandling

2010

• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of AUV-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Vogl, Lukas. (2010) Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2010) Curved Trajectory Tracking for Surface Vessels under Constant External Disturbances. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Trajectory Tracking for Marine Vehicles under Constant Disturbances: Controller Design and Tuning. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Trajectory Tracking for Marine Vehicles under Constant Disturbances: Controller Design and Tuning. OCEANS
  Vitenskapelig artikkel
• Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. (2010) Leader-Follower Synchronization of Mechanical Systems. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (58)
  Doktorgradsavhandling
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion. IEEE transactions on robotics and automation
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2010) A snake robot with a contact force measurement system for obstacle-aided locomotion. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A hybrid model of obstacle-aided snake robot locomotion. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2010) Path following control of planar snake robots using a cascaded approach. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I.. (2010) On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2010) Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. Proceedings of the International Astronautical Congress
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Experimental investigation of fundamental properties of snake robot locomotion. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad. (2010) Experimental investigation of a path following controller for planar snake robots. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Curved Trajectory Tracking for Surface Vessel Formations. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Burger, Mernout; Pettersen, Kristin Ytterstad. (2010) Smooth Transitions Between Trajectory Tracking and Path Following for Single Vehicles and Formations. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) A simplified model of planar snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel
• From, Pål Johan; Duindam, Vincent; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sastry, Shankar. (2010) Singularity-free dynamic equations of vehicle-manipulator systems. Simulation modelling practice and theory
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2010) Fundamental properties of snake robot locomotion. IEEE International Conference on Intelligent Robots and Systems. Proceedings
  Vitenskapelig artikkel

2009

• Transeth, Aksel A.; Pettersen, Kristin Ytterstad; Liljeback, Pål. (2009) A survey on snake robot modeling and locomotion. Robotica (Cambridge. Print)
  Vitenskapelig oversiktsartikkel/review
• Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2009) Maritime Surveillance and Monitoring using Autonomous Vehicles with Conditional Integrator Based Control. OCEANS
  Vitenskapelig artikkel
• Liljeback, Pål; Fjerdingen, Sigrud Aksnes; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2009) A snake robot joint mechanism with a contact force measurement system. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind. (2009) Modelling and control of obstacle-aided snake robot locomotion based on jam resolution. IEEE International Conference on Robotics and Automation (ICRA)
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2009) A Kinematicc versus Dynamic Observer Approach to Coordination Control in terms of Estimation Principle and Practical Performance. European Union Control Association
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Controllability analysis of planar snake robots influenced by viscous ground friction. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Stability analysis of snake robot locomotion based on Poincaré maps. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy. (2009) Proceedings IEEE International Conference on Intelligent Robots and Systems. IEEE conference proceedings IEEE conference proceedings
  Vitenskapelig antologi/Konferanseserie
• Burger, Mernout; Pavlov, Alexey; Børhaug, Even; Pettersen, Kristin Ytterstad. (2009) Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Constant Ocean Currents. American Control Conference (ACC)
  Vitenskapelig artikkel
• Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2009) Conditional Integrators for Path Following and Formation Control of Marine Vessels under Constant Disturbances. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel

2008

• Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad. (2008) Modular Pneumatic Snake Robot: 3D Modelling, Implementation and Control. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Børhaug, Even. (2008) AUVSAT - an experimental platform for spacecraft formation flying. Proceedings of the International Astronautical Congress
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2008) Operational space synchronization of two robot manipulators through a virtual velocity estimate. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Holden, Christian; Pettersen, Kristin Ytterstad. (2008) Global Uniform Asymptotic Lyapunov Stabilization of a Vectorial Chained-Form System with a Smooth Time-Varying Control Law. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2008) Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2008) A new perspective on stable inversion of non-minimum phase nonlinear systems. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2008) Integral LOS Control for Path Following of Underactuated Marine Surface Vessels in the Presence of Constant Ocean Currents. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Transeth, Aksel Andreas; Leine, RI; Glocker, C; Pettersen, Kristin Ytterstad; Liljeback, Pål. (2008) Snake robot obstacle-aided locomotion: Modeling, simulations, and experiments. IEEE transactions on robotics and automation
  Vitenskapelig artikkel
• Børhaug, Even; Pettersen, Kristin Ytterstad. (2008) Nonlinear Control and Synchronization of Mechanical Systems. Norges teknisk-naturvitenskapelige universitet Doktoravhandlinger ved NTNU (298)
  Doktorgradsavhandling
• Transeth, Aksel Andreas; Leine, RI; Glocker, C; Pettersen, Kristin Ytterstad. (2008) 3-D snake robot motion: Nonsmooth modeling, simulations, and experiments. IEEE transactions on robotics and automation
  Vitenskapelig artikkel

2007

• Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2007) Output feedback control of slender body underwater vehicles with current estiamtion. International Journal of Control
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2007) Operational space synchronization of two robot manipulators through a virtual velocity estimate. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Alminde, Lars; Bendtsen, Jan Dimon; Stoustrup, Jakob; Pettersen, Kristin Ytterstad. (2007) Objective directed control using local minimisation for an autonomous underwater vehicle. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad; Wondergem, Michiel; Nijmeijer, Henk. (2007) Output Synchronization Control of Ship Replenishment Operations: Theory and Experiments. Control Engineering Practice
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2007) Motion Coordination of Mechanical Systems. Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control. Doktoravhandlinger ved NTNU (2007:60)
  Doktorgradsavhandling
• Transeth, Aksel Andreas; Liljebäck, Pål; Pettersen, Kristin Ytterstad. (2007) Snake Robot Obstacle Aided Locomotion: An Experimental Validation of a Non-smooth Modeling Approach. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Transeth, Aksel Andreas; van de Wouw, Nathan; Pavlov, Alexey; Hespanha, Joao p; Pettersen, Kristin Ytterstad. (2007) Tracking Control for Snake Robot Joints. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2007) Output feedback control of underwater vehicles with current estimation. International Journal of Control
  Vitenskapelig artikkel
• Holden, Christian; Pettersen, Kristin Ytterstad. (2007) Robust Globally Exponentially Stabilizing Control Law for Fully Actuated 6-DOF AUVs. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Børhaug, Even; Pivano, Luca; Johansen, Tor Arne; Pettersen, Kristin Ytterstad. (2007) A Model-based Ocean Current Obeserver for 6DOF Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) Straight line path following for formations of underactuated underwater vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Pavlov, Alexey; Børhaug, Even; Panteley, Elena; Pettersen, Kristin Ytterstad. (2007) Straigh line path following for formation of underactuated surface vessels. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) A new perspective on stable inversion of non-minimum phase nonlinear systems. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2007) Stable inversion of non-minimum phase nonlinear systems: a convergent systems approach. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel

2006

• Pettersen, Kristin Ytterstad. (2006) Samlokalisering er et steg i gal retning. Adresseavisen
  Kronikk
• Kyrkjebø, Erik; Panteley, Elena; Chaillet, Antoine; Pettersen, Kristin Ytterstad. (2006) A virtual vehicle approach to underway replenishment. Lecture notes in control and information sciences
  Vitenskapelig artikkel
• Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2006) Cross-track formation control of underactuated autonomous underwater vehicles. Lecture notes in control and information sciences
  Vitenskapelig artikkel
• Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. (2006) Cross-track formation control of underactuated surface vessels. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) Global Output Feedback PID Control for n-DOF Euler-Lagrange Systems. American Control Conference (ACC)
  Vitenskapelig artikkel
• Haugom, Rune; Solbjørg, Ole Kristen; Pettersen, Kristin Ytterstad; Eikaas, Tor Ivar. (2006) A Simulation game for nonlinear control theory education. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) A UGAS Observer for n-DOF Euler-Lagrange Systems. American Control Conference (ACC)
  Vitenskapelig artikkel
• Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) Formation control of 6-DOF Euler-Lagrange systems with restricted inter-vehicle communication. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2006) A Virtual Vehicle Approach to Output Synchronization Control. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• van de Wouw, Nathan; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2006) Output Tracking Control of PWA Systems. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Nijmeijer, Henk. (2006) Group Coordination and Cooperative Control. Springer Lecture notes in control and information sciences (May 2006)
  Vitenskapelig antologi/Konferanseserie
• Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad. (2006) Developments in Snake Robot Modeling and Locomotion.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Transeth, Aksel Andreas; Leine, Remco I.; Glocker, Christoph; Pettersen, Kristin Ytterstad. (2006) Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Transeth, Aksel Andreas; Leine, Remco I.; Glocker, Christoph; Pettersen, Kristin Ytterstad. (2006) Non-smooth 3D Modeling of a Snake Robot with External Obstacles. IEEE conference proceedings
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2006) Observer design for underwater vehicles with position and angle measurement. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2006) Weather optimal dynamic positioning of underactuated AUVs using output feedback control. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. (2006) Robust observer design for underwater vehicles. Proceedings of the IEEE Conference on Control Applications
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2006) Leader-follower Dynamic Synchronization of Surface Vessels. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Børhaug, Even; Pettersen, Kristin Ytterstad. (2006) LOS Path Following for Underactuated Underwater Vehicle. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. (2006) Control of slender body underactuated AUVs with current estimation. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos. (2006) Formation Control of Underactuated Marine Vehicles with Communication Constraints. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Fredriksen, Espen; Pettersen, Kristin Ytterstad. (2006) Global K-exponential way-point maneuvering of ships: Theory and experiments. Automatica
  Vitenskapelig artikkel

2005

• Børhaug, Even; Pettersen, Kristin Ytterstad. (2005) Adaptive way-point tracking control for underactuated autonomous vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. (2005) Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. Robotica (Cambridge. Print)
  Vitenskapelig artikkel
• Børhaug, Even; Pettersen, Kristin Ytterstad. (2005) Cross-track control for underactuated autonomous vehicles. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Rustad, Anne Marthine; Sørensen, Asgeir; Pettersen, Kristin Ytterstad; Godhavn, John-Morten. (2005) Motion damping control of a heat exchanger on an LNG floater.
  Vitenskapelig Kapittel/Artikkel/Konferanseartikkel
• Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2005) Leader/Follower synchronization of satellite attitude without angular velocity measurements. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. (2005) Output synchronization control of Euler-Lagrange systems with nonlinear damping terms. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. (2005) Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel
• Refsnes, Jon E Gorset; Sørensen, Asgeir; Pettersen, Kristin Ytterstad. (2005) Design of output-feedback control system for high speed maneuvering of an underwater vehicle. OCEANS
  Vitenskapelig artikkel
• Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. (2005) Master-slave synchronization of robot manipulators: Experimental results. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel
• Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. (2005) Control of ship replenishment by output feedback synchronization. OCEANS
  Vitenskapelig artikkel
• Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad. (2005) Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control. Elsevier IFAC Publications / IFAC Proceedings series
  Vitenskapelig artikkel

2004

• Pettersen, Kristin Ytterstad; Mazenc, F; Nijmeijer, H. (2004) Global uniform asymptotic stabilization of an underactuated surface vessel: Experimental results. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Fredriksen, Espen; Pettersen, Kristin Ytterstad. (2004) Global kappa-exponential way-point manoeuvering of ships. Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes
  Vitenskapelig artikkel
• Tveito, Aslak; Almås, Aslaug Grov; Goebel, Vera; Heggernes, Pinar; Ingebrigtsen, Kjell Arne; Johansen, Dag. (2004) Nyttig nysgjerrighet : Fagplan for informasjons- og kommunikasjonsteknologi (IKT). Norges forskningsråd Norges forskningsråd
  Rapport

2002

• Mazenc, F.; Pettersen, Kristin Ytterstad; Nijmeijer, H.. (2002) Global Uniform Asymptotic Stabilization of an underactuated surface vessel. IEEE Transactions on Automatic Control
  Vitenskapelig artikkel

2000

• Fantoni, Isabelle; Lozano, Rogelio; Mazenc, Frédéric; Pettersen, Kristin Ytterstad. (2000) Stabilization of a Nonlinear Underactuated Hovercraft. International Journal of Robust and Nonlinear Control
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Fossen, Thor Inge. (2000) Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technology
  Vitenskapelig artikkel
• Pettersen, Kristin Ytterstad; Nijmeijer, Hendrik. (2000) Semi-Global Practical Stabilization and Disturbance Adaptation for two Underactuated Ships. Institutt for teknisk kybernetikk
  Rapport

1999

• Pettersen, Kristin Ytterstad; Nijmeijer, H.. (1999) Global practical stabilization and tracking for an underactuated ship : a combined averaging and backstepping approach. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel

1997

• Pettersen, Kristin Ytterstad; Egeland, Olav. (1997) Exponential stabilization of an underactuated surface vessel. MIC Journal: Modeling, Identification and Control
  Vitenskapelig artikkel

1996

• Pettersen, Kristin Ytterstad. (1996) Exponential stabilization of underactuated vehicles. Doktor ingeniøravhandling (1996:87)
  Doktorgradsavhandling
• Pettersen, Kristin Ytterstad; Egeland, Olav. (1996) Stabilization of underactuated vehicles. [Mangler utgivernavn]
  Kompendium