Kristin Ytterstad Pettersen — accepted AI-conference papers

2021

Path Planning for UGVs Based on Traversability Hybrid A

Marius Thoresen, Niels Hygum Nielsen, Kim Mathiassen, Kristin Ytterstad Pettersen

RA-L 2021

In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability is not considered, the planned path may lead a UGV into areas that will cause ro

Cited by 65 Source ↗Scholar ↗

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

RA-L 2016

This letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally buoyant, fully submerged and moving in a virtual plane with a sinusoidal gait and

Cited by 39 Source ↗Scholar ↗