Dynamic Positioning With Model Predictive Control. - Veksler, Aleksander; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar (IEEE Trans. Control. Syst. Technol., 2016)

Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance. - Veksler, Aleksander; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar (2014)

The cardinality-constrained shortest path problem in 2-graphs. - Dahl, Geir; Realfsen, Bjørnar (Networks, 2000)