Scalable Full-cycle Marine Litter Remediation in the Mediterranean: Robotic and Participatory Solutions

Informations projet

SeaClear2.0

N° de convention de subvention: 101093822

DOI

10.3030/101093822

Date de signature de la CE 7 Decembre 2022

Date de début 1 Janvier 2023

Date de fin 31 Decembre 2026

Financé au titre de

• Food, Bioeconomy Natural Resources, Agriculture and Environment

Coût total

€ 9 086 305,00

Contribution de l’UE

€ 7 971 863,50

Coordonné par

TECHNISCHE UNIVERSITEIT DELFT
Netherlands

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Documents, reports (7)

Public Demonstrations, Pilot Sites and Showcases Plan

This report defines the specifications of the planned demonstrations and closely defines the use cases for each demonstration area and pilot site for the full scale joint system operation as well as single component use. (<=T2.2)

Dissemination Resources

This report will contain the communication and dissemination resources that will be developed for the project, e.g. project logo and tagline, presentation and poster templates, project website, and social media accounts. (<=T6.2)

Sensory System Upgrade Report

This report will address the selection - after a set of unitary tests in real conditions - of new sensors such as high resolution 2D/3D sonars, multispectral cameras, electromagnetic and photogrammetry sensors; as well as pesticide/nutrient sensors that will be evaluated, purchased or rented, and integrated on the USV, the mapping ROV, the UAV, and the grapple. (<=T4.1)

IPR Strategy

This report will contain the IPR Strategy as agreed within the consortium in compliance with the GA and CA to be agreed on among the partners. (<=T10.2)

Innovation and Risk Management Report

The Innovation and risk management report will describe the activities and monitoring of the achievements to control the scientific quality of the results. (<=T1.3)

Marine Litter Occurrence Domains Report

This report focuses on the litter occurrence in regard to specific environments such as highly frequented touristic regions, industrial ports, fishery and aqua cultural sites as well as protected natural areas. Elaborating those specifics will shape and define further data acquisition measures and help to train the AI responsible for decision making process in litter collection, and distinguishing on marine wild life and waste fractions. (<=T2.1)

Communication, Dissemination and Stakeholder Engagement Strategy and Plan

A Communication, Dissemination and Stakeholder Engagement Strategy and Plan (CDSEP) will be developed to ensure the project maximises its outreach to and impact on wider society and targeted audiences. Specific KPIs will be developed and regularly monitored (every 6 months) to ensure the CDSEP's effectiveness. The CDSEP will be continuously monitored and updated when relevant. (<=T6.1)

Data Management Plan (1)

Data Management Plan

The Data Management Plan (DMP) will describe how the technical and business data and knowledge that will be created within SeaClear2.0 will be handled, stored, and made accessible. In the DMP the partners also agree upon the specific data that cannot be openly accessible (e.g. due to IP protection, confidential data of participating industries/end-users), etc. The DMP will be updated yearly if relevant. (<=T1.5)

Other (3)

Call for Tender Design for Associated Regions

Analysis of the critical features of maximising robotic system usage at broader scale. Pin-pointing areas that current demonstration and pilot sites do not provide validation of some of the critical points identified. Creation of tasks for showcasing the suitability of SeaClear2.0 system in areas that are not yet foreseen in current tests and demonstrations. This task will take results from WP2 task 2.1 and 2.2 into account. (<=T7.2)

SeaClear2.0 Product and Service Sheet

Based on T2.1 and T2.2 findings, a specification will be composed of the requirements for both hardware and software developments in regard to system capabilities (payload, depth, storage capability, speed, endurance, range, data speed, etc.), mechanical and electrical interfaces of system components, inter-robot communication structure and data collection, refining and distribution as well as integration requirements. (<=T2.3)

Marine Litter Dataset

Creating a database of marine litter by gathering information from marine scientific reports and field studies, categorizing waste fractions by properties such as size, material, weight, solidity, location in the designated demonstration areas. (<=T2.4)

Publications

Peer reviewed articles (12)

Globally convergent path-aware optimization with mobile robots

Auteurs: T. Sântejudean, Ş. Ungur, R. Herzal, I.-C. Morărescu, V.S. Varma, L. Buşoniu
Publié dans: Nonlinear Analysis: Hybrid Systems, Numéro 55, 2025, ISSN 1751-570X
Éditeur: Elsevier BV
DOI: 10.1016/J.NAHS.2024.101546

Multi-agent active multi-target search with intermittent measurements

Auteurs: Bilal Yousuf, Radu Herzal, Zsófia Lendek, Lucian Buşoniu
Publié dans: Control Engineering Practice, Numéro 153, 2024, ISSN 0967-0661
Éditeur: Elsevier BV
DOI: 10.1016/J.CONENGPRAC.2024.106094

Multirobot path-aware global optimization

Auteurs: Tudor Sântejudean, Maria Ceapă, Radu Herzal, Elvin Pop, Vineeth Satheeskumar Varma, Irinel-Constantin Morărescu, Lucian Buşoniu
Publié dans: Control Engineering Practice, Numéro 164, 2025, ISSN 0967-0661
Éditeur: Elsevier BV
DOI: 10.1016/J.CONENGPRAC.2025.106495

The SeaClear system: An intelligent multi-robot solution for autonomous cleanup of marine debris on the seabed

Auteurs: Athina Ilioudi, Stefan Sosnowski, Elisabeth Banken, Petar Bevanda, Jan Brüdigam, Lucian Buşoniu, Yves Chardard, Cosmin Delea, Bart De Schutter, Antun Đuraš, Claudia Hertel-ten Eikelder, Shahab Heshmati-Alamdari, Vicu-Mihalis Maer, Ivana Palunko, Iva Pozniak, Vicko Prkačin, Domagoj Tolić
Publié dans: Engineering Applications of Artificial Intelligence, Numéro 170, 2026, ISSN 0952-1976
Éditeur: Elsevier BV
DOI: 10.1016/J.ENGAPPAI.2026.114094

Entanglement Definitions for Tethered Robots: Exploration and Analysis

Auteurs: Gianpietro Battocletti, Dimitris Boskos, Domagoj Tolić, Ivana Palunko, Bart de Schutter
Publié dans: IEEE Access, Numéro 12, 2024, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/ACCESS.2024.3507217

Trajectory tracking and tether tension control of tethered aerial vehicle using Nonlinear Model Predictive Control

Auteurs: Vicko Prkačin; Ivana Palunko; Ivan Petrović
Publié dans: Control Engineering Practice, 2025, ISSN 1873-6939
Éditeur: Elsevier
DOI: 10.1016/J.CONENGPRAC.2025.106346

Encoder-Decoder Reinforcement Learning for Active Search and Coverage in Point Clouds

Auteurs: Matthias ROSYNSKI, Lucian BUSONIU
Publié dans: Romanian Journal of Information Science and Technology, Numéro 29, 2026, ISSN 1453-8245
Éditeur: Editura Academiei Romane
DOI: 10.59277/ROMJIST.2026.1.02

A Dataset for Detection and Segmentation of Underwater Marine Debris in Shallow Waters

Auteurs: Antun Đuraš, Ben J. Wolf, Athina Ilioudi, Ivana Palunko, Bart De Schutter
Publié dans: Scientific Data, Numéro 11, 2024, ISSN 2052-4463
Éditeur: Springer Science and Business Media LLC
DOI: 10.1038/S41597-024-03759-2

Learning-Based Prescribed-Time Safety for Control of Unknown Systems With Control Barrier Functions

Auteurs: Tzu-Yuan Huang; Sihua Zhang; Xiaobing Dai; Alexandre Capone; Velimir Todorovski; Stefan Sosnowski; Sandra Hirche
Publié dans: IEEE Control Systems Letters, 2024, ISSN 2475-1456
Éditeur: IEEE
DOI: 10.48550/ARXIV.2403.08054

Near-Optimal Control of Nonlinear Systems With Hybrid Inputs and Dwell-Time Constraints

Auteurs: Ioana Lal; Irinel-Constantin Morărescu; Jamal Daafouz; Lucian Buşoniu
Publié dans: IEEE Control Systems Letters, 2023, ISSN 0415-4576
Éditeur: HAL Open Science
DOI: 10.48550/arxiv.2305.08760

Application of Hamilton–Jacobi–Bellman Equation/Pontryagin’s Principle for Constrained Optimal Control

Auteurs: Jerome Weston; Domagoj Tolic; Ivana Palunko
Publié dans: Journal of Optimization Theory and Applications, 2024, ISSN 1573-2878
Éditeur: Springer
DOI: 10.1007/S10957-023-02364-4

Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System

Auteurs: Yuki Origane, Nicolas Hoischen, Tzu-Yuan Huang, Daisuke Kurabayashi, Stefan Sosnowski, Sandra Hirche
Publié dans: IFAC-PapersOnLine, Numéro 59, 2025, ISSN 2405-8963
Éditeur: Elsevier BV
DOI: 10.1016/J.IFACOL.2025.11.657

Conference proceedings (9)

A BlueROV2-based platform for underwater mapping experiments

Auteurs: Tudor Alinei-Poiana, David Rete, Davian Martinovici, Vicu-Mihalis Maer, Lucian Busoniu
Publié dans: 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024, ISSN 2331-8422
Éditeur: IFAC CAMS 2024
DOI: 10.48550/arxiv.2305.08760

An optimistic planning algorithm for switched discrete-time LQR

Auteurs: Mathieu Granzotto, Romain Postoyan, Dragan Nešić, Jamal Daafouz, Lucian Buşoniu
Publié dans: 2025 IEEE 64th Conference on Decision and Control (CDC), 2025
Éditeur: IEEE
DOI: 10.1109/CDC57313.2025.11312761

Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models

Auteurs: Tzu-Yuan Huang; Armin Lederer; Nicolas Hoischen; Jan Brüdigam; Xuehua Xiao; Stefan Sosnowski; Sandra Hirche
Publié dans: 7th Annual Learning for Dynamics \& Control Conference, 2025
Éditeur: Proceedings of Machine Learning Research
DOI: 10.48550/ARXIV.2412.08278

Kernel-Based Optimal Control: An Infinitesimal Generator Approach

Auteurs: Petar Bevanda; Nicolas Hoischen; Tobias Wittmann; Jan Brüdigam; Sandra Hirche; Boris Houska
Publié dans: 7th Annual Conference on Learning for Dynamics and Control, Numéro 283, 2025
Éditeur: Proceedings of Machine Learning Research

Time-Robust Path Planning with Piece-Wise Linear Trajectory for Signal Temporal Logic Specifications

Auteurs: Nhan-Khanh Le; Erfaun Noorani; Sandra Hirche; John S. Baras
Publié dans: 2024 American Control Conference (ACC), 2024
Éditeur: IEEE
DOI: 10.48550/ARXIV.2403.10735

Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation

Auteurs: Jan Brüdigam, Ali-Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h
Publié dans: 8th Annual Conference on Robot Learning
Éditeur: https://openreview.net/pdf?id=vobaOY0qDl
DOI: 10.48550/ARXIV.2408.01258

Towards establishing an automated selection framework for underwater image enhancement methods

Auteurs: Ilioudi, Athina; Wolf, Ben J.; Dabiri, Azita; De Schutter, Bart
Publié dans: OCEANS 2023 - Limerick, 2023
Éditeur: -
DOI: 10.1109/OCEANSLIMERICK52467.2023.10244710

Cooperative Learning with Gaussian Processes for Euler-Lagrange Systems Tracking Control Under Switching Topologies

Auteurs: Zewen Yang, Songbo Dong, Armin Lederer, Xiaobing Dai, Siyu Chen, Stefan Sosnowski, Georges Hattab, Sandra Hirche
Publié dans: 2024 American Control Conference (ACC), 2024
Éditeur: IEEE
DOI: 10.23919/ACC60939.2024.10644832

Policy Pathways for Marine Litter Prevention and Control: Insights from the SeaClear2.0 Project

Auteurs: Orthodoxou L. Demetra, Loizidou I. Xenia
Publié dans: Proceedings of the 4th International Conference on Sustainable Chemical and Environmental Engineering, 2025
Éditeur: SUSTENG 2025
DOI: 10.5281/ZENODO.18753956

Monographic books (1)

Robot control systems: a practical guide to robotics and control

Auteurs: Tassos Natsakis
Publié dans: 2025
Éditeur: U.T. Press