Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle. - Kristin Ytterstad Pettersen; Olav Egeland (IEEE Trans. Autom. Control., 1999)

Semi-global practical stabilization and disturbance adaptation for an underactuated ship. - Kristin Ytterstad Pettersen; Hendrik Nijmeijer (CDC, 2000)

Underactuated dynamic positioning of a ship-experimental results. - Kristin Ytterstad Pettersen; Thor I. Fossen (IEEE Trans. Control. Syst. Technol., 2000)

Way-point tracking control of ships. - Kristin Ytterstad Pettersen; Erjen Lefeber (CDC, 2001)

Global uniform asymptotic stabilization of an underactuated surface vessel. - Fredric Mazenc; Kristin Ytterstad Pettersen; Hendrik Nijmeijer (CDC, 2002)

Global uniform asymptotic stabilization of an underactuated surface vessel. - Frédéric Mazenc; Kristin Ytterstad Pettersen; Henk Nijmeijer (IEEE Trans. Autom. Control., 2002)

Tracking control of an underactuated ship. - Erjen Lefeber; Kristin Ytterstad Pettersen; Henk Nijmeijer (IEEE Trans. Control. Syst. Technol., 2003)

Global κ-exponential way-point manoeuvering of ships. - Espen Fredriksen; Kristin Ytterstad Pettersen (CDC, 2004)

Global uniform asymptotic stabilization of an underactuated surface vessel: experimental results. - Kristin Ytterstad Pettersen; Frédéric Mazenc; Henk Nijmeijer (IEEE Trans. Control. Syst. Technol., 2004)

Leader/Follower synchronization of satellite attitude without angular velocity measurements. - Anne Karin Bondhus; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (CDC/ECC, 2005)

Cross-track control for underactuated autonomous vehicles. - Even Børhaug; Kristin Ytterstad Pettersen (CDC/ECC, 2005)

Adaptive way-point tracking control for underactuated autonomous vehicles. - Even Børhaug; Kristin Ytterstad Pettersen (CDC/ECC, 2005)

Output synchronization control of Euler-Lagrange systems with nonlinear damping terms. - Erik Kyrkjebø; Kristin Ytterstad Pettersen (CDC/ECC, 2005)

Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. - Øyvind Stavdahl; Anne Karin Bondhus; Kristin Ytterstad Pettersen; Kjell E. Malvig (Robotica, 2005)

A UGAS observer for n-DOF Euler-Lagrange systems. - Even Børhaug; Kristin Ytterstad Pettersen (ACC, 2006)

Global output feedback PID control for n-DOF Euler-Lagrange systems. - Even Børhaug; Kristin Ytterstad Pettersen (ACC, 2006)

Formation Control of 6-DOF Euler-Lagrange Systems with Restricted Inter-Vehicle Communication. - Even Børhaug; Kristin Ytterstad Pettersen (CDC, 2006)

Cross-track formation control of underactuated surface vessels. - Even Børhaug; Alexey V. Pavlov; Kristin Ytterstad Pettersen (CDC, 2006)

A virtual vehicle approach to output synchronization control. - Erik Kyrkjebø; Kristin Ytterstad Pettersen (CDC, 2006)

Control of slender body underactuated AUVs with current estimation. - Jon E. Refsnes; Kristin Ytterstad Pettersen; Asgeir J. Sørensen (CDC, 2006)

Output Tracking Control of PWA Systems. - Nathan van de Wouw; Alexey V. Pavlov; Kristin Ytterstad Pettersen; Henk Nijmeijer (CDC, 2006)

Developments in Snake Robot Modeling and Locomotion. - Aksel Andreas Transeth; Kristin Ytterstad Pettersen (ICARCV, 2006)

Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints. - Aksel Andreas Transeth; Remco I. Leine; Christoph Glocker; Kristin Ytterstad Pettersen (ROBIO, 2006)

Non-smooth 3D Modeling of a Snake Robot with External Obstacles. - Aksel Andreas Transeth; Remco I. Leine; Christoph Glocker; Kristin Ytterstad Pettersen (ROBIO, 2006)

Global kappa-exponential way-point maneuvering of ships: Theory and experiments. - Espen Fredriksen; Kristin Ytterstad Pettersen (Autom., 2006)

Straight line path following for formations of underactuated underwater vehicles. - Even Børhaug; Alexey V. Pavlov; Kristin Ytterstad Pettersen (CDC, 2007)

Operational space synchronization of two robot manipulators through a virtual velocity estimate. - Erik Kyrkjebø; Kristin Ytterstad Pettersen (CDC, 2007)

Stable inversion of non-minimum phase nonlinear systems: A convergent systems approach. - Alexey V. Pavlov; Kristin Ytterstad Pettersen (CDC, 2007)

Snake robot obstacle aided locomotion: An experimental validation of a non-smooth modeling approach. - Aksel Andreas Transeth; Pål Liljebäck; Kristin Ytterstad Pettersen (IROS, 2007)

Tracking control for snake robot joints. - Aksel Andreas Transeth; Nathan van de Wouw; Alexey V. Pavlov; João Pedro Hespanha; Kristin Ytterstad Pettersen (IROS, 2007)

Output feedback control of slender body underwater vehicles with current estimation. - Jon E. Refsnes; Asgeir J. Sørensen; Kristin Ytterstad Pettersen (Int. J. Control, 2007)

Integral LOS control for path following of underactuated marine surface vessels in the presence of constant ocean currents. - Even Børhaug; Alexey V. Pavlov; Kristin Ytterstad Pettersen (CDC, 2008)

Global uniform asymptotic Lyapunov stabilization of a vectorial chained-form system with a smooth time-varying control law. - Christian Holden; Kristin Ytterstad Pettersen (CDC, 2008)

Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments. - Jon E. Refsnes; Asgeir J. Sørensen; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2008)

3-D Snake Robot Motion: Nonsmooth Modeling, Simulations, and Experiments. - Aksel Andreas Transeth; Remco I. Leine; Christoph Glocker; Kristin Ytterstad Pettersen (IEEE Trans. Robotics, 2008)

Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments. - Aksel Andreas Transeth; Remco I. Leine; Christoph Glocker; Kristin Ytterstad Pettersen; Pål Liljebäck (IEEE Trans. Robotics, 2008)

Straight line path following for formations of underactuated surface vessels under influence of constant ocean currents. - Mernout Burger; Alexey V. Pavlov; Even Børhaug; Kristin Ytterstad Pettersen (ACC, 2009)

A kinematic versus dynamic observer approach to coordination control in terms of estimation principles and practical performance. - Erik Kyrkjebø; Kristin Ytterstad Pettersen (ECC, 2009)

A snake robot joint mechanism with a contact force measurement system. - Pål Liljebäck; Sigurd Aksnes Fjerdingen; Kristin Ytterstad Pettersen; Øyvind Stavdahl (ICRA, 2009)

Modelling and control of obstacle-aided snake robot locomotion based on jam resolution. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl (ICRA, 2009)

Controllability analysis of planar snake robots influenced by viscous ground friction. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2009)

Stability analysis of snake robot locomotion based on Poincaré maps. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2009)

A survey on snake robot modeling and locomotion. - Aksel Andreas Transeth; Kristin Ytterstad Pettersen; Pål Liljebäck (Robotica, 2009)

Curved trajectory tracking for surface vessel formations. - Mernout Burger; Kristin Ytterstad Pettersen (CDC, 2010)

Stability analysis of snake robot locomotion based on averaging theory. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (CDC, 2010)

Experimental investigation of a path following controller for planar snake robots. - Pål Liljebäck; Idar U. Haugstuen; Kristin Ytterstad Pettersen (ICARCV, 2010)

Experimental investigation of fundamental properties of snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICARCV, 2010)

A snake robot with a contact force measurement system for obstacle-aided locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl (ICRA, 2010)

A hybrid model of obstacle-aided snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICRA, 2010)

A simplified model of planar snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2010)

Fundamental properties of snake robot locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2010)

Two new design concepts for snake robot locomotion in unstructured environments. - Pål Liljebäck; Øyvind Stavdahl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (Paladyn J. Behav. Robotics, 2010)

Singularity-free dynamic equations of vehicle-manipulator systems. - Pål Johan From; Vincent Duindam; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Shankar Sastry 001 (Simul. Model. Pract. Theory, 2010)

Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IEEE Trans. Robotics, 2010)

Waypoint guidance control of snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen (ICRA, 2011)

Path following control of snake robots in unstructured environments. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICRA, 2011)

Stereographic projection for industrial manipulator tasks: Theory and experiments. - Magnus Bjerkeng; Kristin Ytterstad Pettersen; Erik Kyrkjebø (IROS, 2011)

Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results. - Magnus Bjerkeng; Aksel Andreas Transeth; Kristin Ytterstad Pettersen; Erik Kyrkjebø; Sigurd Aksnes Fjerdingen (IROS, 2011)

Controllability and Stability Analysis of Planar Snake Robot Locomotion. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IEEE Trans. Autom. Control., 2011)

Straight Line Path Following for Formations of Underactuated Marine Surface Vessels. - Even Børhaug; Alexey V. Pavlov; Elena Panteley; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2011)

Output Feedback Tracking of Ships. - Michiel Wondergem; Erjen Lefeber; Kristin Ytterstad Pettersen; Henk Nijmeijer (IEEE Trans. Control. Syst. Technol., 2011)

Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IEEE Trans. Robotics, 2011)

Integral LOS guidance for horizontal path following of underactuated autonomous underwater vehicles in the presence of vertical ocean currents. - Walter Caharija; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Even Børhaug (ACC, 2012)

Path following of underactuated autonomous underwater vehicles in the presence of ocean currents. - Walter Caharija; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Even Børhaug (CDC, 2012)

A new Coriolis matrix factorization. - Magnus Bjerkeng; Kristin Ytterstad Pettersen (ICRA, 2012)

A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2012)

A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. - Pål Liljebäck; Øyvind Stavdahl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IROS, 2012)

A review on modelling, implementation, and control of snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (Robotics Auton. Syst., 2012)

Path Following Control of Planar Snake Robots Using a Cascaded Approach. - Pål Liljebäck; Idar U. Haugstuen; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2012)

Design of a nonlinear damping control scheme for nanopositioning. - Marialena Vagia; Arnfinn Aas Eielsen; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen (AIM, 2013)

Path following of marine surface vessels with saturated transverse actuators. - Walter Caharija; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ACC, 2013)

Optimal mapping from a continuous 3D curve to the position and shape of a snake robot. - Christian Holden; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICM, 2013)

Discrete-time stability analysis of a control architecture for heterogeneous robotic systems. - Magnus Bjerkeng; Pietro Falco; Ciro Natale; Kristin Ytterstad Pettersen (IROS, 2013)

Snake Robots - from Biology to Nonlinear Control. - Kristin Ytterstad Pettersen; Pål Liljebäck; Øyvind Stavdahl; Jan Tommy Gravdahl (NOLCOS, 2013)

Path following control of planar snake robots using virtual holonomic constraints. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (ROBIO, 2013)

A universal control architecture for maritime cranes and robots using genetic algorithms as a possible mapping approach. - Filippo Sanfilippo; Lars I. Hatledal; Hans Georg Schaathun; Kristin Ytterstad Pettersen; Houxiang Zhang (ROBIO, 2013)

Lateral undulation of snake robots: a simplified model and fundamental properties. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (Robotica, 2013)

Integral line-of-sight for path following of underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (CCA, 2014)

Virtual holonomic constraint based direction following control of planar snake robots described by a simplified model. - Ehsan Rezapour; Andreas Hofmann; Kristin Ytterstad Pettersen; Alireza Mohammadi 001; Manfredi Maggiore (CCA, 2014)

Path following of underactuated marine surface vessels in the presence of unknown ocean currents. - Signe Moe; Walter Caharija; Kristin Ytterstad Pettersen; Ingrid Schjølberg (ACC, 2014)

Body shape and orientation control for locomotion of biologically-inspired snake robots. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Pål Liljebäck (BioRob, 2014)

ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands. - Filippo Sanfilippo; Houxiang Zhang; Kristin Ytterstad Pettersen; Gionata Salvietti; Domenico Prattichizzo (BioRob, 2014)

Path following for formations of underactuated marine vessels under influence of constant ocean currents. - D. J. W. Belleter; Kristin Ytterstad Pettersen (CDC, 2014)

Direction following control of planar snake robots using virtual holonomic constraints. - Alireza Mohammadi 001; Ehsan Rezapour; Manfredi Maggiore; Kristin Ytterstad Pettersen (CDC, 2014)

JOpenShowVar: An open-source cross-platform communication interface to Kuka robots. - Filippo Sanfilippo; Lars Ivar Hatledal; H. Zhang; Massimiliano Fago; Kristin Ytterstad Pettersen (ICIA, 2014)

Modeling of underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Pål Liljebäck (ICRA, 2014)

Compliant control of the body shape of snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (ICRA, 2014)

Differential geometric modelling and robust path following control of snake robots using sliding mode techniques. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (ICRA, 2014)

Fast dual-arm manipulation using variable admittance control: Implementation and experimental results. - Magnus Bjerkeng; Johannes Schrimpf; Torstein Myhre; Kristin Ytterstad Pettersen (IROS, 2014)

Modeling of underwater snake robots moving in a vertical plane in 3D. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IROS, 2014)

A 3D motion planning framework for snake robots. - Pål Liljebäck; Kristin Ytterstad Pettersen; Øyvind Stavdahl; Jan Tommy Gravdahl (IROS, 2014)

Mamba - A waterproof snake robot with tactile sensing. - Pål Liljebäck; Øyvind Stavdahl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IROS, 2014)

A waypoint guidance strategy for underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (MED, 2014)

Stability analysis of underwater snake robot locomotion based on averaging theory. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ROBIO, 2014)

A control-oriented model of underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ROBIO, 2014)

Null-space-based behavior guidance of planar dual-arm UVMS. - Signe Moe; Gianluca Antonelli; Kristin Ytterstad Pettersen (ROBIO, 2014)

Maneuvering control of planar snake robots based on a simplified model. - Ehsan Rezapour; Andreas Hofmann; Kristin Ytterstad Pettersen (ROBIO, 2014)

On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. - Thor I. Fossen; Kristin Ytterstad Pettersen (Autom., 2014)

Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems. - Magnus Bjerkeng; Pietro Falco; Ciro Natale; Kristin Ytterstad Pettersen (IEEE Trans. Robotics, 2014)

A control-oriented model of underwater snake robots exposed to currents. - Anna M. Kohl; Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (CCA, 2015)

Underactuated leader-follower synchronisation for multi-agent systems with rejection of unknown disturbances. - D. J. W. Belleter; Kristin Ytterstad Pettersen (ACC, 2015)

Topography and force imaging in atomic force microscopy by state and parameter estimation. - Michael R. P. Ragazzon; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen; Arnfinn Aas Eielsen (ACC, 2015)

A wave simulator and active heave compensation framework for demanding offshore crane operations. - Filippo Sanfilippo; Lars I. Hatledal; Houxiang Zhang; Webjørn Rekdalsbakken; Kristin Ytterstad Pettersen (CCECE, 2015)

3D coordinated path following with disturbance rejection for formations of under-actuated agents. - D. J. W. Belleter; Kristin Ytterstad Pettersen (CDC, 2015)

Stability analysis for set-based control within the singularity-robust multiple task-priority inverse kinematics framework. - Signe Moe; Andrew R. Teel; Gianluca Antonelli; Kristin Ytterstad Pettersen (CDC, 2015)

Path following with disturbance rejection for inhomogeneous formations with underactuated agents. - D. J. W. Belleter; Kristin Ytterstad Pettersen (ECC, 2015)

Source seeking with a variable Leader multi-agent fixed topology network. - Claudio Paliotta; Kristin Ytterstad Pettersen (ECC, 2015)

The new architecture of ModGrasp for mind-controlled low-cost sensorised modular hands. - Filippo Sanfilippo; Houxiang Zhang; Kristin Ytterstad Pettersen (ICIT, 2015)

A coupling library for the force dimension haptic devices and the 20-sim modelling and simulation environment. - Filippo Sanfilippo; Paul B. T. Weustink; Kristin Ytterstad Pettersen (IECON, 2015)

Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics. - Gianluca Antonelli; Signe Moe; Kristin Ytterstad Pettersen (MED, 2015)

Energy efficiency of underwater snake robot locomotion. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (MED, 2015)

Analysis of underwater snake robot locomotion based on a control-oriented model. - Anna M. Kohl; Kristin Ytterstad Pettersen; Eleni Kelasidi; Jan Tommy Gravdahl (ROBIO, 2015)

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework. - Signe Moe; Gianluca Antonelli; Kristin Ytterstad Pettersen; Johannes Schrimpf (ROBIO, 2015)

OpenMRH: A modular robotic hand generator plugin for OpenRAVE. - Filippo Sanfilippo; Kristin Ytterstad Pettersen (ROBIO, 2015)

Controlling Kuka Industrial Robots: Flexible Communication Interface JOpenShowVar. - Filippo Sanfilippo; Lars Ivar Hatledal; Houxiang Zhang; Massimiliano Fago; Kristin Ytterstad Pettersen (IEEE Robotics Autom. Mag., 2015)

Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces. - Thor I. Fossen; Kristin Ytterstad Pettersen; Roberto Galeazzi (IEEE Trans. Control. Syst. Technol., 2015)

Underactuated Marine Control Systems. - Kristin Ytterstad Pettersen (Encyclopedia of Systems and Control, 2015)

A modified dynamic window algorithm for horizontal collision avoidance for AUVs. - Bjorn-Olav H. Eriksen; Morten Breivik; Kristin Ytterstad Pettersen; Martin S. Wiig (CCA, 2016)

Leader-follower synchronization with disturbance rejection. - Claudio Paliotta; Kristin Ytterstad Pettersen (CCA, 2016)

Geometric path following with ocean current estimation for ASVs and AUVs. - Claudio Paliotta; Kristin Ytterstad Pettersen (ACC, 2016)

Trajectory tracking of under-actuated marine vehicles. - Claudio Paliotta; Erjen Lefeber; Kristin Ytterstad Pettersen (CDC, 2016)

Waypoint guidance control for underwater snake robots exposed to ocean currents. - Eleni Kelasidi; Anna M. Kohl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (MED, 2016)

Set-based Line-of-Sight (LOS) path following with collision avoidance for underactuated unmanned surface vessel. - Signe Moe; Kristin Ytterstad Pettersen (MED, 2016)

Line-of-sight curved path following for underactuated USVs and AUVs in the horizontal plane under the influence of ocean currents. - Signe Moe; Kristin Ytterstad Pettersen; Thor I. Fossen; Jan Tommy Gravdahl (MED, 2016)

Nonlinear tracking control scheme for a nanopositioner. - Marialena Vagia; Arnfinn Aas Eielsen; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen (MED, 2016)

Path Planning for Formation Control of Autonomous Vehicles. - Elias K. Xidias; Claudio Paliotta; Nikos A. Aspragathos; Kristin Ytterstad Pettersen (RAAD, 2016)

Locomotion efficiency of underwater snake robots with thrusters. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Pål Liljebäck; Jan Tommy Gravdahl (SSRR, 2016)

Multi-objective optimization for efficient motion of underwater snake robots. - Eleni Kelasidi; M. Jesmani; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (Artif. Life Robotics, 2016)

Formation control of underactuated bio-inspired snake robots. - Ehsan Rezapour; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; Andreas Hofmann (Artif. Life Robotics, 2016)

Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results. - Signe Moe; Gianluca Antonelli; Andrew R. Teel; Kristin Ytterstad Pettersen; Johannes Schrimpf (Frontiers Robotics AI, 2016)

Planar Path Following of Underwater Snake Robots in the Presence of Ocean Currents. - Anna M. Kohl; Kristin Ytterstad Pettersen; Eleni Kelasidi; Jan Tommy Gravdahl (IEEE Robotics Autom. Lett., 2016)

Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. - Eleni Kelasidi; Pål Liljebäck; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IEEE Robotics Autom. Mag., 2016)

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments. - Walter Caharija; Kristin Ytterstad Pettersen; Marco Bibuli; Pedro Calado; Enrica Zereik; José Braga; Jan Tommy Gravdahl; Asgeir J. Sørensen; Milan Milovanovic; Gabriele Bruzzone (IEEE Trans. Control. Syst. Technol., 2016)

Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints. - Alireza Mohammadi 001; Ehsan Rezapour; Manfredi Maggiore; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2016)

Vehicle guidance with control action computed by a rao-blackwellized particle filter. - Albert Sans-Muntadas; Edmund Førland Brekke; Kristin Ytterstad Pettersen (ASCC, 2017)

Modeling and propulsion methods of underwater snake robots. - Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl; S. Stromsoyen; Asgeir J. Sørensen (CCTA, 2017)

Velocity and orientation control of underwater snake robots using absolute velocity feedback. - Anna M. Kohl; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (CCTA, 2017)

Set-Based line-of-sight (LOS) path following with collision avoidance for underactuated unmanned surface vessels under the influence of ocean currents. - Signe Moe; Kristin Ytterstad Pettersen (CCTA, 2017)

Exponential convergence bounds in least squares estimation: Identification of viscoelastic properties in atomic force microscopy. - Michael R. P. Ragazzon; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen (CCTA, 2017)

Spiral path planning for docking of underactuated vehicles with limited FOV. - Albert Sans-Muntadas; Eleni Kelasidi; Kristin Ytterstad Pettersen; Edmund Brekke (CCTA, 2017)

Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks. - Jorgen Sverdrup-Thygeson; Signe Moe; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (CCTA, 2017)

A reactive collision avoidance algorithm for nonholonomic vehicles. - Martin S. Wiig; Kristin Ytterstad Pettersen; Andrey V. Savkin (CCTA, 2017)

A reactive collision avoidance algorithm for vehicles with underactuated dynamics. - Martin S. Wiig; Kristin Ytterstad Pettersen; Thomas R. Krogstad (CDC, 2017)

Set-based path following and obstacle avoidance for underwater snake robots. - Anna M. Kohl; Signe Moe; Eleni Kelasidi; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ROBIO, 2017)

Snake robots. - Kristin Ytterstad Pettersen (Annu. Rev. Control., 2017)

Lyapunov sufficient conditions for uniform semiglobal exponential stability. - Kristin Ytterstad Pettersen (Autom., 2017)

Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach - With proofs. - Mohamed Maghenem; Dennis J. W. Belleter; Claudio Paliotta; Kristin Ytterstad Pettersen (CoRR, 2017)

Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. - Eleni Kelasidi; Pål Liljebäck; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IEEE Trans. Robotics, 2017)

A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles. - Martin S. Wiig; Kristin Ytterstad Pettersen; Thomas R. Krogstad (CCTA, 2018)

A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles. - Martin S. Wiig; Kristin Ytterstad Pettersen; Thomas R. Krogstad (CDC, 2018)

Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix. - Morten F. Amundsen; Jorgen Sverdrup-Thygeson; Eleni Kelasidi; Kristin Ytterstad Pettersen (ECC, 2018)

An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance. - Martin S. Wiig; Kristin Ytterstad Pettersen; Else-Line Malene Ruud; Thomas R. Krogstad (ECC, 2018)

Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin. - Eleni Kelasidi; Anna M. Kohl; Kristin Ytterstad Pettersen; B. H. Hoffmann; Jan Tommy Gravdahl (Annu. Rev. Control., 2018)

Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Global Approach - With proofs. - D. J. W. Belleter; Mohamed Maghenem; Claudio Paliotta; Kristin Ytterstad Pettersen (CoRR, 2018)

Set-Based Control for Autonomous Spray Painting. - Signe Moe; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen (IEEE Trans Autom. Sci. Eng., 2018)

Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm. - Ida-Louise G. Borlaug; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ACC, 2019)

Economic model predictive control for snake robot locomotion. - Marko Nonhoff; Philipp N. Köhler; Anna M. Kohl; Kristin Ytterstad Pettersen; Frank Allgöwer (CDC, 2019)

Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances. - Walter Caharija; Asgeir J. Sørensen; Kristin Ytterstad Pettersen; Marilena Greco; Jan Tommy Gravdahl (ECC, 2019)

Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach. - Dennis J. W. Belleter; Mohamed Adlene Maghenem; Claudio Paliotta; Kristin Ytterstad Pettersen (Autom., 2019)

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

Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles. - Dennis J. W. Belleter; José Braga; Kristin Ytterstad Pettersen (Frontiers Robotics AI, 2019)

Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots. - Eleni Kelasidi; Signe Moe; Kristin Ytterstad Pettersen; Anna M. Kohl; Pål Liljebäck; Jan Tommy Gravdahl (Frontiers Robotics AI, 2019)

Learning an AUV docking maneuver with a convolutional neural network. - Albert Sans-Muntadas; Eleni Kelasidi; Kristin Ytterstad Pettersen; Edmund Brekke (IFAC J. Syst. Control., 2019)

Trajectory Tracking and Path Following for Underactuated Marine Vehicles. - Claudio Paliotta; Erjen Lefeber; Kristin Ytterstad Pettersen; José Pinto 001; Maria Costa; João Borges de Sousa (IEEE Trans. Control. Syst. Technol., 2019)

Model-Based Identification of Nanomechanical Properties in Atomic Force Microscopy: Theory and Experiments. - Michael R. P. Ragazzon; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2019)

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)

Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles. - Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Ytterstad Pettersen (CDC, 2020)

Vehicle Safety of the Velocity Obstacle Algorithm. - Aurora Haraldsen; Martin S. Wiig; Kristin Ytterstad Pettersen (CDC, 2020)

The generalized super-twisting algorithm with adaptive gains. - Ida-Louise G. Borlaug; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ECC, 2020)

Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV. - Marianna Wrzos-Kaminska; Thulasi Mylvaganam; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (ECC, 2020)

Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs. - Erlend A. Basso; Kristin Ytterstad Pettersen (CoRR, 2020)

Formation Path Following Control of Underactuated USVs - With Proofs. - Åsmund Eek; Kristin Ytterstad Pettersen; Else-Line Malene Ruud; Thomas R. Krogstad (CoRR, 2020)

A 3D reactive collision avoidance algorithm for underactuated underwater vehicles. - Martin S. Wiig; Kristin Ytterstad Pettersen; Thomas R. Krogstad (J. Field Robotics, 2020)

Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm. - Martin S. Wiig; Kristin Ytterstad Pettersen; Thomas R. Krogstad (IEEE Trans. Control. Syst. Technol., 2020)

Global Asymptotic Tracking for Marine Surface Vehicles using Hybrid Feedback in the Presence of Parametric Uncertainties. - Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Ytterstad Pettersen; Asgeir J. Sørensen (ACC, 2021)

Neural Network-Based Model Predictive Control with Input-to-State Stability. - Katrine Seel; Esten Ingar Grøtli; Signe Moe; Jan Tommy Gravdahl; Kristin Ytterstad Pettersen (ACC, 2021)

Reactive Collision Avoidance for Underactuated Surface Vehicles using the Collision Cone Concept. - Aurora Haraldsen; Martin S. Wiig; Kristin Ytterstad Pettersen (CCTA, 2021)

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

Formation Path Following Control of Underactuated AUVs - With Proofs. - Josef Matous; Kristin Ytterstad Pettersen; Claudio Paliotta (CoRR, 2021)

Formation path following control of underactuated USVs. - Åsmund Eek; Kristin Ytterstad Pettersen; Else-Line Malene Ruud; Thomas R. Krogstad (Eur. J. Control, 2021)

Editorial: Advanced Control Methods in Marine Robotics Applications. - Fabio Bonsignorio; Enrica Zereik; Marco Bibuli; Kristin Ytterstad Pettersen; Oussama Khatib (Frontiers Robotics AI, 2021)

Path Planning for UGVs Based on Traversability Hybrid A. - Marius Thoresen; Niels Hygum Nielsen; Kim Mathiassen; Kristin Ytterstad Pettersen (IEEE Robotics Autom. Lett., 2021)

Tracking Control of an Articulated Intervention Autonomous Underwater Vehicle in 6DOF Using Generalized Super-twisting: Theory and Experiments. - Ida-Louise G. Borlaug; Kristin Ytterstad Pettersen; Jan Tommy Gravdahl (IEEE Trans. Control. Syst. Technol., 2021)

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. - Amer Orucevic; Jan Tommy Gravdahl; Kristin Y. Pettersen; Antoine Chaillet (CCTA, 2022)

Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems. - Bjørn Kåre Sæbø; Kristin Y. Pettersen; Jan Tommy Gravdahl (CCTA, 2022)

Data-driven control of planar snake robot locomotion. - Maria Luisa Scarpa; Benita Nortmann; Kristin Y. Pettersen; Thulasi Mylvaganam (CDC, 2022)

A Generalization of Synergistic Hybrid Feedback Control with Application to Maneuvering Control of Ships. - Henrik M. Schmidt-Didlaukies; Erlend A. Basso; Asgeir J. Sørensen; Kristin Y. Pettersen (CDC, 2022)

Formation Path Following Control of Underactuated AUVs. - Josef Matous; Kristin Ytterstad Pettersen; Claudio Paliotta (ECC, 2022)

Tracking-in-Formation of Multiple Autonomous Marine Vehicles under Proximity and Collision-Avoidance Constraints. - Esteban Restrepo; Josef Matous; Kristin Ytterstad Pettersen (ECC, 2022)

Singularity-free Formation Path Following of Underactuated AUVs: Extended Version. - Josef Matous; Kristin Ytterstad Pettersen; Damiano Varagnolo; Claudio Paliotta (CoRR, 2022)

Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots. - Ivan Gushkov; Amer Orucevic; Kristin Y. Pettersen; Weijia Yao; Jan Tommy Gravdahl (CCTA, 2023)

Dynamic Obstacle Avoidance for Nonholonomic Vehicles using Collision Cones: Theory and Experiments *. - Aurora Haraldsen; Martin S. Wiig; Kristin Y. Pettersen (CCTA, 2023)

Formation Control of Underactuated AUVs Using the Hand Position Concept. - Erling S. Lie; Josef Matous; Kristin Y. Pettersen (CDC, 2023)

Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks. - Hemjyoti Das; Bjørn Kåre Sæbø; Kristin Y. Pettersen; Christian Ott 001 (IROS, 2023)

Global Asymptotic Position and Heading Tracking for Multirotors Using Tuning Function-Based Adaptive Hybrid Feedback. - Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Ytterstad Pettersen (IEEE Control. Syst. Lett., 2023)

Global Asymptotic Tracking for Marine Vehicles Using Adaptive Hybrid Feedback. - Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen; Asgeir J. Sørensen (IEEE Trans. Autom. Control., 2023)

Adaptive Manoeuvring Control for Planar Snake Robots in Uncertain Friction Environments. - Hareesh Chitikena; Irja Gravdahl; Kristin Ytterstad Pettersen; Alireza Mohammadi 001; Filippo Sanfilippo; Øyvind Stavdahl; Shugen Ma (ACC, 2024)

Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments Using Velocity Obstacles. - Aurora Haraldsen; Martin S. Wiig; Aaron D. Ames; Kristin Y. Pettersen (ACC, 2024)

Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints. - Gianluca D'Antuono; Kristin Y. Pettersen; Luca Rosario Buonocore; Jan Tommy Gravdahl; Mario Di Castro (CCTA, 2024)

Safety-Critical Guidance of Underactuated Marine Vehicles in Dynamic Environments using Velocity Obstacles *. - Aurora Haraldsen; Martin S. Wiig; Kristin Y. Pettersen (CCTA, 2024)

Adaptive Line-of-Sight Path Following for Curved Paths as a Maneuvering Problem. - Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen (CDC, 2024)

Orbital Control for Swimming in Underwater Snake Robots using Energy-Shaping and Consensus Control. - Mads Erlend Bøe Lysø; Elena Panteley; Kristin Y. Pettersen; Jan Tommy Gravdahl (CDC, 2024)

Model Predictive Task-Priority Control using Control Lyapunov Functions. - Eirik L. Foseid; Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Kristin Y. Pettersen; Jan Tommy Gravdahl (ECC, 2024)

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion. - Mads Erlend Bøe Lysø; Esten Ingar Grøtli; Kristin Ytterstad Pettersen (CoRR, 2024)

Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths With Anti-Windup Guarantees. - Henrik M. Schmidt-Didlaukies; Erlend A. Basso; Kristin Y. Pettersen (IEEE Control. Syst. Lett., 2024)

Communication-aware formation control for networks of AUVs. - Simon Hoff; Josef Matous; Damiano Varagnolo; Kristin Y. Pettersen (Eur. J. Control, 2024)

A Theoretical Analysis of the Velocity Obstacle Method for Nonholonomic Vehicles and Underactuated Surface Vessels. - Aurora Haraldsen; Martin S. Wiig; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2024)

Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots. - Amer Orucevic; Marianna Wrzos-Kaminska; Jan Tommy Gravdahl; Kristin Y. Pettersen (IEEE Trans. Control. Syst. Technol., 2024)

The Hand Position Concept for Control of Underactuated Underwater Vehicles. - Josef Matous; Claudio Paliotta; Kristin Ytterstad Pettersen; Damiano Varagnolo (IEEE Trans. Control. Syst. Technol., 2024)

Tracking Control of Cooperative Marine Vehicles Under Hard and Soft Constraints. - Esteban Restrepo; Josef Matous; Kristin Y. Pettersen (IEEE Trans. Control. Netw. Syst., 2024)

Line-of-Sight Guidance: Learning to Look Ahead in Three Dimensions. - Eirik L. Foseid; Henrik M. Schmidt-Didlaukies; Erlend A. Basso; Kristin Y. Pettersen; Jan Tommy Gravdahl (IEEE Control. Syst. Lett., 2025)

A Distributed NSB Algorithm for Formation Path Following. - Josef Matous; Kristin Y. Pettersen; Damiano Varagnolo; Claudio Paliotta (IEEE Trans. Control. Syst. Technol., 2025)

Hybrid Control Barrier Functions for Nonholonomic Multi-Agent Systems. - Aurora Haraldsen; Josef Matous; Kristin Y. Pettersen (CoRR, 2025)

Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks. - Erling Tveter; Bjørn Kåre Sæbø; Christian Ott 001; Kristin Y. Pettersen; Jan Tommy Gravdahl (IEEE Robotics Autom. Lett., 2025)