Centre of Excellence in Maritime Robotics and Technologies for Sustainable Blue Economy

Project Information

MARBLE

Grant agreement ID: 101136349

DOI

10.3030/101136349

EC signature date 4 November 2024

Start date 1 January 2025

End date 31 December 2030

Funded under

• Widening participation and spreading excellence

Total cost

€ 14 999 495,00

EU contribution

€ 14 999 495,00

Coordinated by

SVEUCILISTE U ZAGREBU FAKULTET ELEKTROTEHNIKE I RACUNARSTVA
Croatia

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Conference proceedings (11)

Development of a Low-Cost Environmental Monitoring Buoy: a Case Study from the SeaTecHub Project

Author(s): Barbara Arbanas Ferreira, Martin Oreč, Juraj Obradović, Nikola Mišković
Published in: 2025 Symposium on Maritime Informatics and Robotics (MARIS), 2025
Publisher: IEEE
DOI: 10.1109/MARIS64137.2025.11139641

Teaching AI and Marine Robotics to High School Students - The Experience of the MASK Project

Author(s): Fausto Ferreira, Đula Nađ, Nikola Mišković, Francesco Maurelli, Antonio Blažina, Lovro Maglić
Published in: OCEANS 2025 Brest, 2025
Publisher: IEEE
DOI: 10.1109/OCEANS58557.2025.11104309

Hierarchical LLM-Driven Mission Planning for Heterogeneous Maritime Robot Teams

Author(s): Tran, Thi; Ferreira, Fausto Miguel Pascoal; Arbanas Pascoal Ferreira, Barbara
Published in: European Robotics Forum 2026, 2026
Publisher: Springer Nature Switzerland

Identifying IMU Noise Characteristics from USV Trajectories

Author(s): Batoš, Matko; Mandić, Luka; Kapetanović, Nadir; Nađ, Đula; Mišković, Nikola
Published in: OCEANS 2025 Brest, 2025
Publisher: IEEE

$\rho$LiRLo: LiDAR-Based Relative Localization with Retro-Reflective Marker

Author(s): Jakob Domislovic, Robert Milijas, Antun Ivanovic, Marko Car, Goran Vasiljevic, Barbara Arbanas Ferreira, Frano Petric, Matko Orsag, Stjepan Bogdan
Published in: 2025 International Conference on Unmanned Aircraft Systems (ICUAS), 2025, ISSN 2575-7296
Publisher: IEEE
DOI: 10.1109/ICUAS65942.2025.11007861

Passive Detection of Scooter's Underwater Radiated Noise

Author(s): Roee Diamant, Fausto Ferreira
Published in: 2025 33rd European Signal Processing Conference (EUSIPCO), 2025
Publisher: IEEE
DOI: 10.23919/EUSIPCO63237.2025.11226575

YOLO-Based Depth Estimation from Monocular Camera Images for Object Detection at Sea

Author(s): Matej Fabijanić, Fausto Ferreira
Published in: OCEANS 2025 Brest, 2025
Publisher: IEEE
DOI: 10.1109/OCEANS58557.2025.11104564

Deep Learning-Based Visual Approaches for Underwater Garbage Detection

Author(s): Dario Perhat, Fausto Ferreira
Published in: 2025 IEEE International Workshop on Metrology for the Sea; Learning to Measure Sea Health Parameters (MetroSea), 2025
Publisher: IEEE
DOI: 10.1109/METROSEA66681.2025.11245790

Towards Real-Time Computer Vision for Cable Angle Estimation in Subsea Laying Operations

Author(s): Matej Fabijanić, Zdravko Eškinja, Fausto Ferreira
Published in: 2025 IEEE International Workshop on Metrology for the Sea; Learning to Measure Sea Health Parameters (MetroSea), 2025
Publisher: IEEE
DOI: 10.1109/METROSEA66681.2025.11245726

A Brief Survey on the Integration of Large Language Models with Marine Robotic Systems

Author(s): Barbara Arbanas Ferreira, Dula Nad, Fausto Ferreira, Massimo Caccia
Published in: 2025 IEEE International Workshop on Metrology for the Sea; Learning to Measure Sea Health Parameters (MetroSea), 2025, ISSN 3064-9587
Publisher: IEEE
DOI: 10.1109/METROSEA66681.2025.11245673

Detection, classification and identification of objects in underwater harsh environments using machine learning

Author(s): Fausto Ferreira, Ðula Nađ, Bartul Kajmak, Lovre Rančev, Lucija Renić, Vilim Skorić, Niko Škurla, Gabriele Ferri, Alessandro Faggiani
Published in: 2025 Symposium on Maritime Informatics and Robotics (MARIS), 2025
Publisher: IEEE
DOI: 10.1109/MARIS64137.2025.11139715

Peer reviewed articles (14)

Underwater radiated noise characteristics of small vessels - An analysis of the HearMyShip database

Author(s): Mark Shipton, Juraj Obradović, Nikola Mišković, Roee Diamant
Published in: Marine Pollution Bulletin, Issue 216, 2026, ISSN 0025-326X
Publisher: Elsevier BV
DOI: 10.1016/J.MARPOLBUL.2025.117903

Multiple Mobile Target Detection and Tracking in Small Active Sonar Array

Author(s): Avi Abu, Nikola Mišković, Neven Cukrov, Roee Diamant
Published in: Remote Sensing, Issue 17, 2025, ISSN 2072-4292
Publisher: MDPI AG
DOI: 10.3390/RS17111925

Diver velocity estimation using inertial measurements and LSTM neural networks trained on DVL data

Author(s): Vladimir Slošić, Matko Batoš, Đula Nađ, Nikola Mišković
Published in: Control Engineering Practice, Issue 174, 2026, ISSN 0967-0661
Publisher: Elsevier BV
DOI: 10.1016/J.CONENGPRAC.2026.107018

Aerial Localization and Navigation for Surveillance of Large, Featureless, GNSS‐Denied Maritime Environments

Author(s): Marijana Peti, Lovro Marković, Ivan Lončar, Antonella Barišić Kulaš, Frano Petric, Ana Milas, Jurica Goričanec, Marko Car, Matko Orsag, Barbara A. Ferreira, Stjepan Bogdan
Published in: Journal of Field Robotics, Issue 42, 2025, ISSN 1556-4959
Publisher: Wiley
DOI: 10.1002/ROB.22610

An adaptive direct data-driven controller for nonlinear system reference tracking

Author(s): Luka Mandić, Đula Nađ, Nikola Mišković
Published in: ISA Transactions, Issue 164, 2025, ISSN 0019-0578
Publisher: Elsevier BV
DOI: 10.1016/J.ISATRA.2025.05.043

Design and Development of a Boat-Mountable Sensor Rack for Maritime Perception and Data Acquisition

Author(s): Juraj Obradović, Matej Fabijanić, Josip Lovrić, Nadir Kapetanović, Ðula Nađ, Fausto Ferreira, Nikola Mišković
Published in: IFAC-PapersOnLine, Issue 59, 2025, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/J.IFACOL.2025.11.640

Advanced Technologies for Maritime and Underwater Archaeology—2nd Edition

Author(s): Javier Prieto, Fabio Bruno, Antonio Lagudi, Michela Ricca, Mauro Francesco La Russa, George Papatheodorou, Nikola Mišković
Published in: Journal of Marine Science and Engineering, Issue 14, 2026, ISSN 2077-1312
Publisher: MDPI AG
DOI: 10.3390/JMSE14131200

A data-driven approach to compare behavioral and physiological metrics of gilthead sea bream exposed to playback ship noise to a control group

Author(s): Roee Diamant, Eyal Cohen, Ilan Shachar, Dror Kipnis, Nikola Mišković, Ziv Zemah-Shamir, Peleg Itay, Danny Morick
Published in: Ecological Informatics, Issue 92, 2026, ISSN 1574-9541
Publisher: Elsevier BV
DOI: 10.1016/J.ECOINF.2025.103491

DMIAN: deep learning-based Multi-IMU fusion for enhanced marine aided navigation

Author(s): Matko Batoš, Ðula Nađ
Published in: Control Engineering Practice, Issue 173, 2026, ISSN 0967-0661
Publisher: Elsevier BV
DOI: 10.1016/J.CONENGPRAC.2026.106991

System Architecture and Implementation of a Path-Planning Module for Autonomous Vessels

Author(s): Enio Krizman, Nadir Kapetanović, Ðula Nađ
Published in: IFAC-PapersOnLine, Issue 59, 2026, ISSN 2405-8963
Publisher: Elsevier BV
DOI: 10.1016/J.IFACOL.2025.11.631

Design and Development of a Low-Cost Floater for Sustainable Fishing

Author(s): Anja Babić, Martin Oreč, Nikola Mišković, Shlomi Dahan, Marijan Vonić, Iwan Sidaropoulos, Neven Cukrov, Roee Diamant
Published in: IEEE Journal of Oceanic Engineering, Issue 50, 2025, ISSN 0364-9059
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/JOE.2025.3538944

A Database of Underwater Radiated Noise from Small Vessels in the Coastal Area

Author(s): Mark Shipton, Juraj Obradović, Fausto Ferreira, Nikola Mišković, Tomislav Bulat, Neven Cukrov, Roee Diamant
Published in: Scientific Data, Issue 12, 2025, ISSN 2052-4463
Publisher: Springer Science and Business Media LLC
DOI: 10.1038/S41597-025-04584-X

Heterogeneous Multirobot Team: Maritime Inspection and Intervention in Global Navigation Satellite System-Denied Scenarios

Author(s): Barbara Arbanas Ferreira, Antun Ivanovic, Marijana Peti, Luka Mandić, Matko Batoš, Jakob Domislović, Goran Vasiljević, Juraj Obradović, Fausto Ferreira, Frano Petric, Antonella Barišić-Kulaš, Marko Car, Jurica Goričanec, Natko Kraševac, Marko Križmančić, Ivan Lončar, Lovro Marković, Robert Milijaš, Dario Stuhne, Matko Orsag, Stjepan Bogdan, Nikola Mišković
Published in: IEEE Robotics & Automation Magazine, 2025, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/MRA.2025.3639792

CSBenchLab : A unified control system benchmarking toolbox

Author(s): Luka Mandić, Tin Novosel, Nikola Mišković
Published in: Control Engineering Practice, Issue 173, 2026, ISSN 0967-0661
Publisher: Elsevier BV
DOI: 10.1016/J.CONENGPRAC.2026.106984