The cardinality-constrained shortest path problem in 2-graphs. - Geir Dahl; Bjørnar Realfsen (Networks, 2000)

Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance. - Aleksander Veksler; Tor Arne Johansen; Francesco Borrelli; Bjørnar Realfsen (CCA, 2014)

Dynamic Positioning With Model Predictive Control. - Aleksander Veksler; Tor Arne Johansen; Francesco Borrelli; Bjørnar Realfsen (IEEE Trans. Control. Syst. Technol., 2016)