Publication
Adaptive Underwater Robotic Sampling of Dispersal Dynamics in the Coastal Ocean
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1730324
Esten Ingar Grøtli
Senior Research Scientist
Esten Ingar Grøtli
Senior Research Scientist
Phone:
+47 920 99 036
Email:
Unit:
SINTEF Digital
Department:
Mathematics and Cybernetics
Office:
Trondheim
Publications and responsibilities
Publication
Distributed nonlinear optimization-based control for multi-agent systems navigation in a coastal environment
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1783005
This paper presents a distributed optimization-based control algorithm for the safe navigation of multi-surface vehicles in a complex environment with fixed and moving obstacles. We first generate off-line within the a priori known environment a collision-free path using RRT* (optimal Rapidly-explor...
Publication
Distributed nonlinear optimization-based control for multi-agent systems navigation in a coastal environment
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1782962
This paper presents a distributed optimization-based control algorithm for the safe navigation of multi-surface vehicles in a complex environment with fixed and moving obstacles. We first generate off-line within the a priori known environment a collision-free path using RRT* (optimal Rapidly-explor...
Publication
Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1782832
This paper extends our previous work on constrained trajectory generation for UAVs (Unmanned Aerial Vehicles) with the task of fully covering an a priori known 3D structure. The novelty resides in the geometrical approach we adopt to describe sufficient coverage constraints in a mixed-integer formul...
Publication
Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1782827
This paper extends our previous work on constrained trajectory generation for UAVs (Unmanned Aerial Vehicles) with the task of fully covering an a priori known 3D structure. The novelty resides in the geometrical approach we adopt to describe sufficient coverage constraints in a mixed-integer formul...
Publication
Bruk av droner i nordområdene
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1782745
Publication
AJA method and AJA Canvas as a Design Tool for marine Autonomous Operations with a test case scenario: the detection, inspection and tracking of a waste-water plume
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1768451
Autonomous marine operations are difficult to plan, design and perform. Additionally, the complexity of these operations is increasing as they often include more than one vehicle. The AJA (Autonomous Job Analysis) method is a structured approach to gathering the necessary information from experts in...
Publication
Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1767548
In this paper we demonstrate how path reachability can be taken into account when selecting among predetermined grasps in a bin-picking application, where grasps are supplied independently of the robot at hand. We do this by creating a map of the workspace to optimally place the bin with regards to ...
Publication
Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1767547
Publication
Vive for Robotics: Rapid Robot Cell Calibration
https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1767525
...— The use of an HTC Vive; a virtual reality (VR) system and its innovative tracking technology is explored in order to create an approximate one-to-one mapping to the virtual representation of a robot cell. The mapping is found by performing hand-eye calibration, establishing a spatial relationship ...