Risk-based Autonomous Maritime Collision Avoidance Considering Obstacle Intentions. - Trym Tengesdal; Tor Arne Johansen; Edmund Brekke (FUSION, 2020)

Ship Collision Avoidance and Anti Grounding Using Parallelized Cost Evaluation in Probabilistic Scenario-Based Model Predictive Control. - Trym Tengesdal; Tor Arne Johansen; Tom Daniel Grande; Simon Blindheim (IEEE Access, 2022)

Ship Collision Avoidance Utilizing the Cross-Entropy Method for Collision Risk Assessment. - Trym Tengesdal; Tor Arne Johansen; Edmund Førland Brekke (IEEE Trans. Intell. Transp. Syst., 2022)

Simulation Framework and Software Environment for Evaluating Automatic Ship Collision Avoidance Algorithms*. - Trym Tengesdal; Tor Arne Johansen (CCTA, 2023)

Real-time Feasible Usage of Radial Basis Functions for Representing Unstructured Environments in Optimal Ship Control This work was supported by the Research Council of Norway through the Autoship Centre for Research-based Innovation, project number 309230, and by Kongsberg Maritime through the University Technology Center on Ship Performance and Cyber Physical Systems. - Trym Tengesdal; Sébastien Gros; Tor Arne Johansen (ACC, 2024)

Nonlinear Model Predictive Control for Enhanced Navigation of Autonomous Surface Vessels. - Daniel Menges; Trym Tengesdal; Adil Rasheed (CoRR, 2024)

Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-Scale Experiments in Confined Waters. - Trym Tengesdal; Sverre Velten Rothmund; Erlend A. Basso; Henrik M. Schmidt-Didlaukies; Tor Arne Johansen (Field Robotics, 2024)

A Comparative Study of Rapidly-exploring Random Tree Algorithms Applied to Ship Trajectory Planning and Behavior Generation. - Trym Tengesdal; Tom Arne Pedersen; Tor Arne Johansen (J. Intell. Robotic Syst., 2025)

Design and Validation of an Intention-Aware Probabilistic Framework for Trajectory Prediction: Integrating COLREGS, Grounding Hazards, and Planned Routes. - Dhanika Mahipala; Trym Tengesdal; Børge Rokseth; Tor Arne Johansen (CoRR, 2025)