Blar i forfatter "Kristiansen, Raymond"

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    • Subsumption architecture applied to flight control using composite rotations 

      Oland, Espen; Andersen, Tom Stian; Kristiansen, Raymond (Peer reviewed; Tidsskriftartikkel; Journal article, 2016-03-19)
      In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while ...

    • Take-Home Exams in University Mathematics and Science Subjects: Some Ethical Considerations 

      Rensaa, Ragnhild Johanne; Kristiansen, Raymond (Journal article; Tidsskriftartikkel; Peer reviewed, 2024)
      This article addresses some challenging perspectives related to offering take-home exams in mathematics at university level. The challenges arose during work on a previous article where four perspectives originating from Bjerrum Nielsen’s framework (2003) were used to analyze universities’ assessment methods during the Covid lockdown in our country. The perspectives had some ethical considerations ...

    • Underactuated Control of Quadrotors with Collision Avoidance 

      Oland, Espen; Andersen, Tom Stian; Kristiansen, Raymond (Journal article; Peer reviewed; Tidsskriftartikkel, 2013)
      In this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and ...

    • Underactuated Waypoint Tracking of a Fixed-Wing UAV 

      Oland, Espen; Schlanbusch, Rune; Kristiansen, Raymond (Journal article; Peer reviewed; Tidsskriftartikkel, 2013)
      In this paper a new method of performing waypoint tracking is shown for underactuated fixed-wing UAVs. The position error can be mapped onto the desired axis using a desired rotation matrix, while the velocity error can be mapped to the desired axis using a desired angular velocity. With all errors defined along one axis, the tracking problem is easily solved using only one thruster. A velocity ...