Publications

2021

V. Cichella, I. Kaminer, C. Walton, N. Hovakimyan and A. M. Pascoal, "Optimal Multivehicle Motion Planning Using Bernstein Approximants," in IEEE Transactions on Automatic Control, vol. 66, no. 4, pp. 1453-1467, April 2021, doi: 10.1109/TAC.2020.2999329.

R. T. Rodrigues, N. Tsiogkas, A. Pascoal and A. P. Aguiar, "Online Range-Based SLAM Using B-Spline Surfaces," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1958-1965, April 2021, doi: 10.1109/LRA.2021.3060672.

Himri, K.; Ridao, P.; Gracias, N. Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information. Sensors 2021, 21, 1807. https://doi.org/10.3390/s21051807

Z.Wang, S. Yang, X. Xiang, A. Vasilijević, N. Mišković, Đ. Nađ, "Cloud-based mission control of USV fleet: Architecture, implementation and experiments", Control Engineering Practice, Volume 106, 2021,104657, ISSN 0967-0661, https://doi.org/10.1016/j.conengprac.2020.104657.

Kapetanović N., Vasilijević A., Zubčić K. (2021) "Assessing the Current State of a Shipwreck Using an Autonomous Marine Robot: Szent Istvan Case Study". In: Rodríguez González S. et al. (eds) Distributed Computing and Artificial Intelligence, Special Sessions, 17th International Conference. DCAI 2020. Advances in Intelligent Systems and Computing, vol 1242. Springer, Cham. https://doi.org/10.1007/978-3-030-53829-3_12

M. Franchi, A. Ridolfi, B. Allotta, "Underwater navigation with 2D forward looking SONAR: An adaptive unscented Kalman filter-based strategy for AUVs". J Field Robotics. 2021; 38: 355– 385. https://doi.org/10.1002/rob.21991

R. Li, S. Wang and D. Gu, "DeepSLAM: A Robust Monocular SLAM System With Unsupervised Deep Learning," in IEEE Transactions on Industrial Electronics, vol. 68, no. 4, pp. 3577-3587, April 2021, doi: 10.1109/TIE.2020.2982096.

M. Aguiar, J. E. da Silva and J. B. de Sousa, "Minimal time delivery of multiple robots," 2020 59th IEEE Conference on Decision and Control (CDC), 2020, pp. 1572-1577, doi: 10.1109/CDC42340.2020.9304510.

Hung, N., 2021, "Cooperative Control and Estimation of Multi-Agent Systems under Communication Constraints", PhD Thesis, Instituto Superior Técnico, Lisbon

Berry, T., 2021, "Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks", MSc Thesis, Instituto Superior Técnico, Lisbon

Lopes, J., 2021, "Range-Based Underwater Target Localization and Tracking", MSc Thesis, Instituto Superior Técnico, Lisbon

Rego, R., 2021, "Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks", MSc Thesis, Instituto Superior Técnico, Lisbon

 

2020

Miguel Aguiar, João Borges de Sousa, João Miguel Dias, Jorge Estrela da Silva, Américo S. Ribeiro, Renato Mendes, "The Value Function as a Decision Support Tool in Unmanned Vehicle Operations", IFAC-PapersOnLine, Volume 53, Issue 2, 2020, Pages 14608-14613, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2020.12.1469.

Nguyen T. Hung, N. Crasta, David Moreno-Salinas, António M. Pascoal, Tor A. Johansen, "Range-based target localization and pursuit with autonomous vehicles: An approach using posterior CRLB and model predictive control", Robotics and Autonomous Systems, Volume 132, 2020, 103608, ISSN 0921-8890, https://doi.org/10.1016/j.robot.2020.103608.

Nguyen T. Hung & Antonio M. Pascoal(2020)Consensus/synchronisation of networked nonlinear multiple agent systems with event-triggered communications",International Journal of Control, DOI: 10.1080/00207179.2020.1849806

Petar Trslic, Matija Rossi, Luke Robinson, Cathal W. O’Donnel, Anthony Weir, Joseph Coleman, James Riordan, Edin Omerdic, Gerard Dooly, Daniel Toal, Vision based autonomous docking for work class ROVs, Ocean Engineering, Volume 196, 2020, 106840, ISSN 0029-8018, https://doi.org/10.1016/j.oceaneng.2019.106840.

Z. Hong, Y. Petillot and S. Wang, "RadarSLAM: Radar based Large-Scale SLAM in All Weathers," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 5164-5170, doi: 10.1109/IROS45743.2020.9341287.

F. Fanelli, D. Fenucci, R. Marlow, M. Pebody and A. B. Phillips, "Development of a Multi-Platform Obstacle Avoidance System for Autonomous Underwater Vehicles," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-6, doi: 10.1109/AUV50043.2020.9267942.

D. Alcaraz et al., "The Marine Robotics Research Infrastructure Network (EUMarine Robots): An Overview," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-2, doi: 10.1109/AUV50043.2020.9267940.

B. Alves, A. Pascoal and T. Hormigo, "A Navigation Algorithm for Under-the-Ice Robotic Operations," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-6, doi: 10.1109/AUV50043.2020.9267894.

D. Teixeira and A. M. Pascoal, "Cooperative Multiple Formation Control of Autonomous Marine Vehicles," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-3, doi: 10.1109/AUV50043.2020.9267927.

S. Garg, J. Quintas, J. Cruz and A. M. Pascoal, "NetMarSyS - A Tool for the Simulation and Visualization of Distributed Autonomous Marine Robotic Systems," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-5, doi: 10.1109/AUV50043.2020.9267922.

G. Vallicrosa, M. J. Fumas, F. Huber and P. Ridao, "Sparus II AUV as a Sensor Suite for Underwater Archaeology: Falconera Cave Experiments," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-5, doi: 10.1109/AUV50043.2020.9267935.

J. Quintas, J. Cruz, A. Pascoal and F. C. Teixeira, "A Comparison of Nonlinear Filters for Underwater Geomagnetic Navigation," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-6, doi: 10.1109/AUV50043.2020.9267915.

Patryk Cieślak, Roberto Simoni, Pere Ridao Rodríguez, Dina Youakim, Practical formulation of obstacle avoidance in the Task-Priority framework for use in robotic inspection and intervention scenarios, Robotics and Autonomous Systems, Volume 124, 2020, 103396, ISSN 0921-8890, https://doi.org/10.1016/j.robot.2019.103396.

P. Norgren, T. Mo-Bjørkelund, K. Gade, Ø. Hegrenæs and M. Ludvigsen, "Intelligent Buoys for Aiding AUV Navigation Under the Ice," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-7, doi: 10.1109/AUV50043.2020.9267889.

T. Mo-Bjørkelund, P. Norgren and M. Ludvigsen, "Simulation and forecasting of ice drift as a tool for autonomous under ice operations", 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-6, doi: 10.1109/AUV50043.2020.9267921.

Hung, NT,Pascoal, AM, Johansen, TA."Cooperative path following of constrained autonomous vehicles with model predictive control and event-triggered communications." Int J Robust Nonlinear Control.2020; 30:2644–2670. https://doi.org/10.1002/rnc.4896

F. CastroRego, Y. Pu, A. Alessandretti, A. P. Aguiar, A. M. Pascoal and C. N. Jones, "A Distributed Luenberger Observer for Linear State Feedback Systems with Quantized and Rate-limited Communications," in IEEE Transactions on Automatic Control, doi: 10.1109/TAC.2020.3027658.

A. Vasilijević; N. Kapetanović; N. Mišković, "Inspection of Submerged Structures",  Proceedings of the 17th IMEKO TC 10 and EUROLAB Virtual Conference, Zagreb, Hrvatska, 2020. str. 1-5 (URL)

Babić, A.; Mandić, F.; Mišković, N. "Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots". Appl. Sci. 2020, 10, 7124. https://doi.org/10.3390/app10207124

N. Kapetanović; A. Vasilijević; Đ. Nađ; K. Zubčić; N. Mišković. "Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep". Remote Sens. 2020, 12, 3902. https://doi.org/10.3390/rs12233902

N. Kapetanović; B. Kordić; A. Vasilijević; Đ. Nađ; N. Mišković. "Autonomous Vehicles Mapping Plitvice Lakes National Park, Croatia". Remote Sens. 2020, 12, 3683. https://doi.org/10.3390/rs12223683

M. Franchi, A. Ridolfi, M. Pagliai, "A forward-looking SONAR and dynamic model-based AUV navigation strategy: Preliminary validation with FeelHippo AUV", Ocean Engineering, Volume 196, 2020, 106770, ISSN 0029-8018, https://doi.org/10.1016/j.oceaneng.2019.106770.

M. Franchi, A. Bucci, L. Zacchini, E. Topini, A. Ridolfi and B. Allotta, "A Probabilistic 3D Map Representation for Forward-Looking SONAR Reconstructions," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-6, doi: 10.1109/AUV50043.2020.9267934.

L. Zacchini, A. Ridolfi and B. Allotta, "Receding-horizon sampling-based sensor-driven coverage planning strategy for AUV seabed inspections," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-6, doi: 10.1109/AUV50043.2020.9267903.

P. S. Dias et al., "Large Scale Unmanned Vehicles Oceanic Exercise REP(MUS)19 Field Report," 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 2020, pp. 1-2, doi: 10.1109/AUV50043.2020.9267898.

Abaspur Kazerouni, I.; Dooly, G.; Toal, D. "Underwater Image Enhancement and Mosaicking System Based on A-KAZE Feature Matching". J. Mar. Sci. Eng. 2020, 8, 449. https://doi.org/10.3390/jmse8060449

Yang, B., Wang, S., Markham, A. et al. "Robust Attentional Aggregation of Deep Feature Sets for Multi-view 3D Reconstruction". Int J Comput Vis 128, 53–73 (2020). doi: 10.1007/s11263-019-01217-w

Youakim, Dina & Cieslak, Patryk & Dornbush, Andrew & Palomer, Albert & Ridao, Pere & Likhachev, Maxim. (2020). "Multirepresentation, Multiheuristic A* search‐based motion planning for a free‐floating underwater vehicle‐manipulator system in unknown environment". Journal of Field Robotics. 10.1002/rob.21923. DOI: 10.1002/rob.21923

Trslić, P.; Omerdic, E.; Dooly, G.; Toal, D. "Neuro-Fuzzy Dynamic Position Prediction for Autonomous Work-Class ROV Docking". Sensors 2020, 20, 693. https://doi.org/10.3390/s20030693

Trslić, P.; Weir, A.; Riordan, J.; Omerdic, E.; Toal, D.; Dooly, G. "Vision-Based Localization System Suited to Resident Underwater Vehicles". Sensors 2020, 20, 529. https://doi.org/10.3390/s20020529

 

2019

V. Cichella, I. Kaminer, C. Walton, N. Hovakimyan and A. M. Pascoal, "Consistent approximation of optimal control problems using Bernstein polynomials," 2019 IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 4292-4297, doi: 10.1109/CDC40024.2019.9029677.

J. E. Bremnes, P. Norgren, A. J. Sørensen, C. A. Thieme and I. B. Utne, "Intelligent Risk-Based Under-Ice Altitude Control for Autonomous Underwater Vehicles," OCEANS 2019 MTS/IEEE SEATTLE, 2019, pp. 1-8, doi: 10.23919/OCEANS40490.2019.8962532.

I. Lončar, N. Mišković, "Sensitivity Analysis for TDoA-based Localisation in Underwater Sensor Networks" , IFAC-PapersOnLine, Volume 52, Issue 21, 2019, Pages 193-198, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2019.12.306.

Đ. Nađ, C. Walker, I. Kvasić, D. O. Antillon, N. Mišković, I. Anderson, I. Lončar, "Towards Advancing Diver-Robot Interaction Capabilities", IFAC-PapersOnLine, Volume 52, Issue 21, 2019, Pages 199-204, ISSN 2405-8963, https://doi.org/10.1016/j.ifacol.2019.12.307.

M. Aguiar, J. B. de Sousa, J. M. Dias, J. E. da Silva, R. Mendes and A. S. Ribeiro, "Optimizing autonomous underwater vehicle routes with the aid of high resolution ocean models," OCEANS 2019 MTS/IEEE SEATTLE, Seattle, WA, USA, 2019, pp. 1-7. DOI: 10.23919/OCEANS40490.2019.8962569

Lara Briñón-Arranz, Alexandre Seuret, António Pascoal, "Circular formation control for cooperative target tracking with limited information", Journal of the Franklin Institute, Volume 356, Issue 4, 2019, Pages 1771-1788, ISSN 0016-0032. doi: 10.1016/j.jfranklin.2018.12.011

Castillón, M.; Palomer, A.; Forest, J.; Ridao, P. "State of the Art of Underwater Active Optical 3D Scanners". Sensors 201919, 5161. doi: 10.3390/s19235161

P. Cieślak, "Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface," OCEANS 2019 - Marseille, Marseille, France, 2019, pp. 1-6. doi: 10.1109/oceanse.2019.8867434

M. Costa et al., "Underwater Archaeology with Light AUVs" OCEANS 2019 - Marseille, Marseille, France, 2019, pp. 1-6. doi: 10.1109/oceanse.2019.8867503

J. Galante, M. Ribeiro, R. d. Nobrega, J. Neiva, A. S. Ferreira and J. B. Sousa, "Water Take-off and Landing Hybrid Copter approach for Maritime CONOPs," 2019 International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, USA, 2019, pp. 475-481. doi: 10.1109/icuas.2019.8798079

Himri, K.; Ridao, P.; Gracias, N." 3D Object Recognition Based on Point Clouds in Underwater Environment with Global Descriptors: A Survey". Sensors 2019, 19, 4451. doi: 10.3390/s19204451

Z. Hong, Y. Petillot, D. Lane, Y. Miao and S. Wang, "TextPlace: Visual Place Recognition and Topological Localization Through Reading Scene Texts," 2019 IEEE/CVF International Conference on Computer Vision (ICCV), Seoul, Korea (South), 2019, pp. 2861-2870. DOI: 10.1109/ICCV.2019.00295

I. Kvasić, N. Mišković and Z. Vukić, "Convolutional Neural Network Architectures for Sonar-Based Diver Detection and Tracking," OCEANS 2019 - Marseille, Marseille, France, 2019, pp. 1-6. doi: 10.1109/oceanse.2019.8867461

K. Lima et al., "REP18 Atlantic – A Large Scale Exercise Using Unmanned Systems, Field Report," OCEANS 2019 - Marseille, Marseille, France, 2019, pp. 1-7. doi: 10.1109/OCEANSE.2019.8867283

A. Palomer, P. Ridao, J. Forest and D. Ribas, "Underwater Laser Scanner: Ray-Based Model and Calibration," in IEEE/ASME Transactions on Mechatronics, vol. 24, no. 5, pp. 1986-1997, Oct. 2019. doi: 10.1109/tmech.2019.2929652

Roger Pi, Dina Youakim, Patrick Cieslak, Pere Ridao, "Multi-Representation Multi-Heuristic A* Motion Planning for a Dual-Arm Underwater Vehicle Manipulation System", IFAC-PapersOnLine, Volume 52, Issue 21, 2019, Pages 205-210, ISSN 2405-8963. DOI: 10.1016/j.ifacol.2019.12.308.

J. Quintas et al., "AUV path planning, navigation, and control using geophysical data," OCEANS 2019 - Marseille, Marseille, France, 2019, pp. 1-9. DOI10.1109/OCEANSE.2019.8867535

Francisco F.C. Rego, António M. Pascoal, A. Pedro Aguiar, Colin N. Jones, "Distributed state estimation for discrete-time linear time invariant systems: A survey", Annual Reviews in Control, Volume 48, 2019, Pages 36-56, ISSN 1367-5788. doi: 10.1016/j.arcontrol.2019.08.003

J. Ribeiro, J. Gomes and R. Dinis, "An Interference Cancellation Approach for MIMO Orthogonal Signal-Division Multiplexing in Time-Varying Channels," OCEANS 2019 - Marseille, Marseille, France, 2019, pp. 1-8. DOI: 10.1109/OCEANSE.2019.8867407

Cruz, I., 2019, "A Range-Based Positioning System for Autonomous Underwater Vehicles", MSc Thesis, Instituto Superior Técnico, Lisbon

Garcia, J., 2019, "Motion Planning for Multiple Autonomous Robotic Vehicles using Optimization Tools", MSc Thesis, Instituto Superior Técnico, Lisbon

Alves, B., 2019, "A Navigation System for Under-the-Ice Robotic Operations", MSc Thesis, Instituto Superior Técnico, Lisbon

 

2018

N. Crasta, D. Moreno-Salinas, A.M. Pascoal, J. Aranda, "Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization", Annual Reviews in Control, Volume 46, 2018, Pages 326-342, ISSN 1367-5788. doi: 10.1016/j.arcontrol.2018.10.004

P. Di Lillo, F. Arrichiello, G. Antonelli and S. Chiaverini, "Safety-Related Tasks Within the Set-Based Task-Priority Inverse Kinematics Framework," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 6130-6135. doi: 10.1109/IROS.2018.8593884

Moreno-Salinas, D., Pascoal, A. M., & Aranda, J. (2018). "Multiple underwater target positioning with optimally placed acoustic surface sensor networks". International Journal of Distributed Sensor Networks. doi: 10.1177/1550147718773234

F. Rego, N. T. Hung and A. M. Pascoal, "Cooperative path-following of autonomous marine vehicles: theory and experiments," 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), Porto, Portugal, 2018, pp. 1-6. DOI: 10.1109/AUV.2018.8729809

B. Sabetghadam, R. Cunha and A. Pascoal, "Cooperative Motion Planning with Time, Energy and Active Navigation Constraints," 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), Porto, Portugal, 2018, pp. 1-6. DOI: 10.1109/AUV.2018.8729781

Vallicrosa, G.; Ridao, P. "H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps". Sensors 201818, 1386. doi: 10.3390/s18051386