A kinematic hybrid feedback controller on the unit circle suitable for orientation control of ships. - Mathias Marley; Roger Skjetne; Andrew R. Teel (CDC, 2020)

Synergistic control barrier functions with application to obstacle avoidance for nonholonomic vehicles. - Mathias Marley; Roger Skjetne; Andrew R. Teel (ACC, 2021)

A Guidance and Maneuvering Control System Design With Anti-Collision Using Stream Functions With Vortex Flows for Autonomous Marine Vessels. - Hongyu Zhou; Zhengru Ren; Mathias Marley; Roger Skjetne (IEEE Trans. Control. Syst. Technol., 2022)

Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems. - Mathias Marley; Roger Skjetne; Mateusz Gil; Przemyslaw Krata (IEEE Access, 2023)

Adaptive Control Barrier Functions for Near-Structure ROV Operations. - Malte von Benzon; Mathias Marley; Fredrik Sørensen; Jesper Liniger; Simon Pedersen (IROS, 2024)

Sufficient Conditions for Uniform Asymptotic Stability and Input-to-State Stability Using High-Order Control Barrier Functions. - Mathias Marley; Roger Skjetne; Andrew R. Teel (IEEE Trans. Autom. Control., 2024)

Hybrid Control Barrier Functions for Continuous-Time Systems. - Mathias Marley; Roger Skjetne; Andrew R. Teel (IEEE Trans. Autom. Control., 2024)