Kristin Ytterstad Pettersen

According to our database1, Kristin Ytterstad Pettersen authored at least 166 papers between 1999 and 2021.

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Awards

IEEE Fellow

IEEE Fellow 2017, "For contributions to control of marine vessels and snake robots".

Timeline

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Bibliography

2021
Tracking Control of an Articulated Intervention Autonomous Underwater Vehicle in 6DOF Using Generalized Super-twisting: Theory and Experiments.
IEEE Trans. Control. Syst. Technol., 2021

Path Planning for UGVs Based on Traversability Hybrid A.
IEEE Robotics Autom. Lett., 2021

2020
Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm.
IEEE Trans. Control. Syst. Technol., 2020

A 3D reactive collision avoidance algorithm for underactuated underwater vehicles.
J. Field Robotics, 2020

Formation Path Following Control of Underactuated USVs - With Proofs.
CoRR, 2020

Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs.
CoRR, 2020

Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV.
Proceedings of the 18th European Control Conference, 2020

The generalized super-twisting algorithm with adaptive gains.
Proceedings of the 18th European Control Conference, 2020

Vehicle Safety of the Velocity Obstacle Algorithm.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles.
Proceedings of the 59th IEEE Conference on Decision and Control, 2020

Reactive collision avoidance for ASVs based on control barrier functions.
Proceedings of the 2020 IEEE Conference on Control Technology and Applications, 2020

Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents.
Proceedings of the 2020 IEEE Conference on Control Technology and Applications, 2020

2019
Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments.
IEEE Trans. Control. Syst. Technol., 2019

Trajectory Tracking and Path Following for Underactuated Marine Vehicles.
IEEE Trans. Control. Syst. Technol., 2019

Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots.
Frontiers Robotics AI, 2019

Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles.
Frontiers Robotics AI, 2019

Corrigendum to "Lyapunov sufficient conditions for uniform semiglobal exponential stability" [Automatica 78 (2017) 97-102].
Autom., 2019

Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach.
Autom., 2019

Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances.
Proceedings of the 17th European Control Conference, 2019

Economic model predictive control for snake robot locomotion.
Proceedings of the 58th IEEE Conference on Decision and Control, 2019

Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm.
Proceedings of the 2019 American Control Conference, 2019

2018
Set-Based Control for Autonomous Spray Painting.
IEEE Trans Autom. Sci. Eng., 2018

Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Global Approach - With proofs.
CoRR, 2018

Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin.
Annu. Rev. Control., 2018

An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance.
Proceedings of the 16th European Control Conference, 2018

Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix.
Proceedings of the 16th European Control Conference, 2018

A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles.
Proceedings of the 57th IEEE Conference on Decision and Control, 2018

A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles.
Proceedings of the IEEE Conference on Control Technology and Applications, 2018

2017
Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments.
IEEE Trans. Robotics, 2017

Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach - With proofs.
CoRR, 2017

Lyapunov sufficient conditions for uniform semiglobal exponential stability.
Autom., 2017

Snake robots.
Annu. Rev. Control., 2017

Set-based path following and obstacle avoidance for underwater snake robots.
Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics, 2017

A reactive collision avoidance algorithm for vehicles with underactuated dynamics.
Proceedings of the 56th IEEE Annual Conference on Decision and Control, 2017

A reactive collision avoidance algorithm for nonholonomic vehicles.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Spiral path planning for docking of underactuated vehicles with limited FOV.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Exponential convergence bounds in least squares estimation: Identification of viscoelastic properties in atomic force microscopy.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Velocity and orientation control of underwater snake robots using absolute velocity feedback.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Modeling and propulsion methods of underwater snake robots.
Proceedings of the IEEE Conference on Control Technology and Applications, 2017

Vehicle guidance with control action computed by a rao-blackwellized particle filter.
Proceedings of the 11th Asian Control Conference, 2017

2016
Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints.
IEEE Trans. Control. Syst. Technol., 2016

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments.
IEEE Trans. Control. Syst. Technol., 2016

Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots.
IEEE Robotics Autom. Mag., 2016

Planar Path Following of Underwater Snake Robots in the Presence of Ocean Currents.
IEEE Robotics Autom. Lett., 2016

Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results.
Frontiers Robotics AI, 2016

Formation control of underactuated bio-inspired snake robots.
Artif. Life Robotics, 2016

Multi-objective optimization for efficient motion of underwater snake robots.
Artif. Life Robotics, 2016

Locomotion efficiency of underwater snake robots with thrusters.
Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Path Planning for Formation Control of Autonomous Vehicles.
Proceedings of the Advances in Robot Design and Intelligent Control, 2016

Nonlinear tracking control scheme for a nanopositioner.
Proceedings of the 24th Mediterranean Conference on Control and Automation, 2016

Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents.
Proceedings of the 24th Mediterranean Conference on Control and Automation, 2016

Set-based Line-of-Sight (LOS) path following with collision avoidance for underactuated unmanned surface vessel.
Proceedings of the 24th Mediterranean Conference on Control and Automation, 2016

Waypoint guidance control for underwater snake robots exposed to ocean currents.
Proceedings of the 24th Mediterranean Conference on Control and Automation, 2016

Trajectory tracking of under-actuated marine vehicles.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

Geometric path following with ocean current estimation for ASVs and AUVs.
Proceedings of the 2016 American Control Conference, 2016

Leader-follower synchronization with disturbance rejection.
Proceedings of the 2016 IEEE Conference on Control Applications, 2016

A modified dynamic window algorithm for horizontal collision avoidance for AUVs.
Proceedings of the 2016 IEEE Conference on Control Applications, 2016

2015
Underactuated Marine Control Systems.
Proceedings of the Encyclopedia of Systems and Control, 2015

Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces.
IEEE Trans. Control. Syst. Technol., 2015

Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar.
IEEE Robotics Autom. Mag., 2015

OpenMRH: A modular robotic hand generator plugin for OpenRAVE.
Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, 2015

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework.
Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, 2015

Analysis of underwater snake robot locomotion based on a control-oriented model.
Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, 2015

Energy efficiency of underwater snake robot locomotion.
Proceedings of the 23rd Mediterranean Conference on Control and Automation, 2015

Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics.
Proceedings of the 23rd Mediterranean Conference on Control and Automation, 2015

A coupling library for the force dimension haptic devices and the 20-sim modelling and simulation environment.
Proceedings of the IECON 2015, 2015

The new architecture of ModGrasp for mind-controlled low-cost sensorised modular hands.
Proceedings of the IEEE International Conference on Industrial Technology, 2015

Source seeking with a variable Leader multi-agent fixed topology network.
Proceedings of the 14th European Control Conference, 2015

Path following with disturbance rejection for inhomogeneous formations with underactuated agents.
Proceedings of the 14th European Control Conference, 2015

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

3D coordinated path following with disturbance rejection for formations of under-actuated agents.
Proceedings of the 54th IEEE Conference on Decision and Control, 2015

A wave simulator and active heave compensation framework for demanding offshore crane operations.
Proceedings of the IEEE 28th Canadian Conference on Electrical and Computer Engineering, 2015

Topography and force imaging in atomic force microscopy by state and parameter estimation.
Proceedings of the American Control Conference, 2015

Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances.
Proceedings of the American Control Conference, 2015

A control-oriented model of underwater snake robots exposed to currents.
Proceedings of the 2015 IEEE Conference on Control Applications, 2015

2014
Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems.
IEEE Trans. Robotics, 2014

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws.
Autom., 2014

Maneuvering control of planar snake robots based on a simplified model.
Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, 2014

Null-space-based behavior guidance of planar dual-arm UVMS.
Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, 2014

A control-oriented model of underwater snake robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, 2014

Stability analysis of underwater snake robot locomotion based on averaging theory.
Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, 2014

A waypoint guidance strategy for underwater snake robots.
Proceedings of the 22nd Mediterranean Conference on Control and Automation, 2014

Mamba - A waterproof snake robot with tactile sensing.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

A 3D motion planning framework for snake robots.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Modeling of underwater snake robots moving in a vertical plane in 3D.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Fast dual-arm manipulation using variable admittance control: Implementation and experimental results.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Differential geometric modelling and robust path following control of snake robots using sliding mode techniques.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Compliant control of the body shape of snake robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Modeling of underwater snake robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

JOpenShowVar: An open-source cross-platform communication interface to Kuka robots.
Proceedings of the IEEE International Conference on Information and Automation, 2014

Direction following control of planar snake robots using virtual holonomic constraints.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

Path following for formations of underactuated marine vessels under influence of constant ocean currents.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014

ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands.
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

Body shape and orientation control for locomotion of biologically-inspired snake robots.
Proceedings of the 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014

Path following of underactuated marine surface vessels in the presence of unknown ocean currents.
Proceedings of the American Control Conference, 2014

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model.
Proceedings of the 2014 IEEE Conference on Control Applications, 2014

Integral line-of-sight for path following of underwater snake robots.
Proceedings of the 2014 IEEE Conference on Control Applications, 2014

2013
Lateral undulation of snake robots: a simplified model and fundamental properties.
Robotica, 2013

A universal control architecture for maritime cranes and robots using genetic algorithms as a possible mapping approach.
Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2013

Path following control of planar snake robots using virtual holonomic constraints.
Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2013

Snake Robots - from Biology to Nonlinear Control.
Proceedings of the 9th IFAC Symposium on Nonlinear Control Systems, 2013

Discrete-time stability analysis of a control architecture for heterogeneous robotic systems.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Optimal mapping from a continuous 3D curve to the position and shape of a snake robot.
Proceedings of the IEEE International Conference on Mechatronics, 2013

Path following of marine surface vessels with saturated transverse actuators.
Proceedings of the American Control Conference, 2013

Design of a nonlinear damping control scheme for nanopositioning.
Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013

2012
Path Following Control of Planar Snake Robots Using a Cascaded Approach.
IEEE Trans. Control. Syst. Technol., 2012

A review on modelling, implementation, and control of snake robots.
Robotics Auton. Syst., 2012

A modular and waterproof snake robot joint mechanism with a novel force/torque sensor.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

A new Coriolis matrix factorization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Path following of underactuated autonomous underwater vehicles in the presence of ocean currents.
Proceedings of the 51th IEEE Conference on Decision and Control, 2012

Integral LOS guidance for horizontal path following of underactuated autonomous underwater vehicles in the presence of vertical ocean currents.
Proceedings of the American Control Conference, 2012

2011
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot.
IEEE Trans. Robotics, 2011

Output Feedback Tracking of Ships.
IEEE Trans. Control. Syst. Technol., 2011

Straight Line Path Following for Formations of Underactuated Marine Surface Vessels.
IEEE Trans. Control. Syst. Technol., 2011

Controllability and Stability Analysis of Planar Snake Robot Locomotion.
IEEE Trans. Autom. Control., 2011

Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Stereographic projection for industrial manipulator tasks: Theory and experiments.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Path following control of snake robots in unstructured environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Waypoint guidance control of snake robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion.
IEEE Trans. Robotics, 2010

Singularity-free dynamic equations of vehicle-manipulator systems.
Simul. Model. Pract. Theory, 2010

Two new design concepts for snake robot locomotion in unstructured environments.
Paladyn J. Behav. Robotics, 2010

Fundamental properties of snake robot locomotion.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A simplified model of planar snake robot locomotion.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A hybrid model of obstacle-aided snake robot locomotion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A snake robot with a contact force measurement system for obstacle-aided locomotion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Experimental investigation of fundamental properties of snake robot locomotion.
Proceedings of the 11th International Conference on Control, 2010

Experimental investigation of a path following controller for planar snake robots.
Proceedings of the 11th International Conference on Control, 2010

Stability analysis of snake robot locomotion based on averaging theory.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

Curved trajectory tracking for surface vessel formations.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

2009
A survey on snake robot modeling and locomotion.
Robotica, 2009

Stability analysis of snake robot locomotion based on Poincaré maps.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Controllability analysis of planar snake robots influenced by viscous ground friction.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Modelling and control of obstacle-aided snake robot locomotion based on jam resolution.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

A snake robot joint mechanism with a contact force measurement system.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

A kinematic versus dynamic observer approach to coordination control in terms of estimation principles and practical performance.
Proceedings of the 10th European Control Conference, 2009

Straight line path following for formations of underactuated surface vessels under influence of constant ocean currents.
Proceedings of the American Control Conference, 2009

2008
Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments.
IEEE Trans. Robotics, 2008

3-D Snake Robot Motion: Nonsmooth Modeling, Simulations, and Experiments.
IEEE Trans. Robotics, 2008

Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments.
IEEE Trans. Control. Syst. Technol., 2008

Global uniform asymptotic Lyapunov stabilization of a vectorial chained-form system with a smooth time-varying control law.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

Integral LOS control for path following of underactuated marine surface vessels in the presence of constant ocean currents.
Proceedings of the 47th IEEE Conference on Decision and Control, 2008

2007
Output feedback control of slender body underwater vehicles with current estimation.
Int. J. Control, 2007

Tracking control for snake robot joints.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Snake robot obstacle aided locomotion: An experimental validation of a non-smooth modeling approach.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Stable inversion of non-minimum phase nonlinear systems: A convergent systems approach.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Operational space synchronization of two robot manipulators through a virtual velocity estimate.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

Straight line path following for formations of underactuated underwater vehicles.
Proceedings of the 46th IEEE Conference on Decision and Control, 2007

2006
Global kappa-exponential way-point maneuvering of ships: Theory and experiments.
Autom., 2006

Non-smooth 3D Modeling of a Snake Robot with External Obstacles.
Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2006

Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints.
Proceedings of the IEEE International Conference on Robotics and Biomimetics, 2006

Developments in Snake Robot Modeling and Locomotion.
Proceedings of the Ninth International Conference on Control, 2006

Output Tracking Control of PWA Systems.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Control of slender body underactuated AUVs with current estimation.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

A virtual vehicle approach to output synchronization control.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Cross-track formation control of underactuated surface vessels.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

Formation Control of 6-DOF Euler-Lagrange Systems with Restricted Inter-Vehicle Communication.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006

2005
Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics.
Robotica, 2005

2004
Global uniform asymptotic stabilization of an underactuated surface vessel: experimental results.
IEEE Trans. Control. Syst. Technol., 2004

2003
Tracking control of an underactuated ship.
IEEE Trans. Control. Syst. Technol., 2003

2002
Global uniform asymptotic stabilization of an underactuated surface vessel.
IEEE Trans. Autom. Control., 2002

2000
Underactuated dynamic positioning of a ship-experimental results.
IEEE Trans. Control. Syst. Technol., 2000

1999
Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle.
IEEE Trans. Autom. Control., 1999


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