Andersson, J. A. E., Gillis, J., Horn, G., Rawlings, J. B., & Diehl, M. (2019). CasADi: A software framework for nonlinear optimization and optimal control.
Mathematical Programming Computation,
11(1), Article 1.
https://doi.org/10.1007/s12532-018-0139-4
Bitar, G., Eriksen, B.-O. H., Lekkas, A. M., & Breivik, M. (2021). Three-Phase Automatic Crossing for a Passenger Ferry With Field Trials.
2021 European Control Conference (ECC). 2271-2277.
https://doi.org/10.23919/ECC54610.2021.9655139
Bitar, G., Martinsen, A. B., Lekkas, A. M., & Breivik, M. (2020). Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments**This work is supported by the Research Council of Norway through the project number 269116 as well as through the Centres of Excellence funding scheme with project number 223254.
IFAC-PapersOnLine,
53(2), 14488-14494.
https://doi.org/10.1016/j.ifacol.2020.12.1451
Fossen, T. I. (2011). Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons.
Lindegaard, K.-P. (2003). Acceleration feedback in dynamic positioning.
Lindegaard, K.-P., & Fossen, T. I. (2003). Fuel-efficient rudder and propeller control allocation for marine craft: Experiments with a model ship.
IEEE Transactions on Control Systems Technology,
11(6), 850-862.
https://doi.org/10.1109/TCST.2003.815613
Martinsen, A. B., Bitar, G., Lekkas, A. M., & Gros, S. (2020). Optimization-Based Automatic Docking and Berthing of ASVs Using Exteroceptive Sensors: Theory and Experiments.
IEEE Access,
8, 204974-204986.
https://doi.org/10.1109/ACCESS.2020.3037171
Martinsen, A. B., Lekkas, A. M., & Gros, S. (2019). Autonomous docking using direct optimal control.
IFAC-PapersOnLine,
52(21), Article 21.
Martinsen, A. B., Lekkas, A. M., & Gros, S. (2022). Optimal Model- Based Trajectory Planning With Static Polygonal Constraints.
IEEE Transactions on Control Systems Technology,
30(3), Article 3.
https://doi.org/10.1109/TCST.2021.3094617
Miyauchi, Y., Sawada, R., Akimoto, Y., Umeda, N., & Maki, A. (2022). Optimization on planning of trajectory and control of autonomous berthing and unberthing for the realistic port geometry.
Ocean Engineering,
245, 110390.
https://doi.org/10.1016/j.oceaneng.2021.110390
Ødven, P. K., Martinsen, A. B., & Lekkas, A. M. (2022). Static and dynamic multi-obstacle avoidance and docking of ASVs using computational geometry and numerical optimal control.
IFAC-PapersOnLine,
55(31), Article 31.
https://doi.org/10.1016/j.ifacol.2022.10.408
Quan, T. D., Suh, J.-H., & Kim, Y.-B. (2019). Leader-Following Control System Design for a Towed Vessel by Tugboat.
Journal of Ocean Engineering and Technology,
33(5), 462-469.
https://doi.org/10.26748/KSOE.2019.075
Skjetne, R., Smogeli, Ø. N., & Fossen, T. I. (2004). A Nonlinear Ship Manoeuvering Model: Identification and adaptive control with experiments for a model ship.
Modeling, Identification and Control: A Norwegian Research Bulletin,
25(1), 3-27.
https://doi.org/10.4173/mic.2004.1.1
Wächter, A., & Biegler, L. T. (2006). On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming.
Mathematical Programming,
106(1), 25-57.
https://doi.org/10.1007/s10107-004-0559-y