Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents. - Erlend A. Basso; Emil H. Thyri; Kristin Ytterstad Pettersen; Morten Breivik; Roger Skjetne (CCTA, 2020)

Reactive collision avoidance for ASVs based on control barrier functions. - Emil H. Thyri; Erlend A. Basso; Morten Breivik; Kristin Ytterstad Pettersen; Roger Skjetne; Anastasios M. Lekkas (CCTA, 2020)

Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems. - Josef Matous; Erlend A. Basso; Emil H. Thyri; Kristin Ytterstad Pettersen (CCTA, 2021)

A domain-based and reactive COLAV method with a partially COLREGs-compliant domain for ASVs operating in confined waters. - Emil H. Thyri; Morten Breivik (Field Robotics, 2022)