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Autonomous Unmanned Aerial Systems for Marine and Coastal Monitoring

Deliverables

ESRs' individual projects

Doctoral thesis of the ESRs. There are in addition expected to be publications, and/or technical reports and and patent applications along the way towards completion of the doctoral thesis.

Network level training

The extensive list with multiple network-level traning events is covered by this deliverable. It is further detailed in Annex I Part B, and constitutes internal Research reviews, workshops, summer schools, and organization of conferences or sessions at conferences. Most of the events are public, but some are are exlusively for the Project (e.g. internal research reviews).

2nd summer school material

Lectures from Summer Schools will be video-recorded, and together with all relevant course material, will be made available on the internet. Wherever possible, the training modules will be open to junior researchers outside the project as a means of disseminating best practices in training for researchers.

1st summer school material

Lectures from Summer Schools will be video-recorded, and together with all relevant course material, will be made available on the internet. Wherever possible, the training modules will be open to junior researchers outside the project as a means of disseminating best practices in training for researchers.

Web-site

A MarineUAS web-site will be updated on a monthly basis. It will have 1. A public section with research results, scientific publications, recruitment and announcements of open network activities, 2. An end-user section with course materials, field experiment videos, animations, and demonstrations, 3. An outreach section with news, interviews, blogs, popular science articles, and contact points.

Final technical report

Final technical report as described in GA article 204Due 60 days after month 51

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Publications

Cooperative path-following of autonomous marine vehicles: theory and experiments

Author(s): F. Rego, Nguyen Tuan Hung, Antonio Pascoal
Published in: 2018
Publisher: IEEE

Target Tracking using an Autonomous Underwater Vehicle: A Moving Path Following Approach

Author(s): R. Praveen Jain, Pedro Aguiar, João Sousa
Published in: 2018
Publisher: IEEE

Event-Triggered Communications for the Synchronization of Nonlinear Multi Agent Systems on Weight-Balanced Digraphs

Author(s): Nguyen Tuan Hung, F. Rego, Antonio Pascoal
Published in: 2019
Publisher: 2019 European Control Conference

Adaptive Path Planning for Unmanned Aircraft Using In-flight Wind Velocity Estimation

Author(s): Sebastian Benders, Andreas Wenz, Tor Arne Johansen
Published in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Page(s) 483-492, ISBN 978-1-5386-1354-2
Publisher: IEEE
DOI: 10.1109/icuas.2018.8453341

Cooperative remote sensing of ice using a Spatially Indexed Labeled Multi-Bernoulli filter

Author(s): Jonatan Olofsson, Edmund Brekke, Tor Arne Johansen
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 591-600, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991507

Input-Constrained Path Following for Autonomous Marine Vehicles with a Global Region of Attraction

Author(s): Nguyen Tuan Hung, F. Rego, N. Crasta, Antonio Pascoal
Published in: 2018
Publisher: Research gate

Impact of atmospheric icing on UAV aerodynamic performance

Author(s): Richard Hann, Andreas Wenz, Kristoffer Gryte, Tor Arne Johansen
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 66-71, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/RED-UAS.2017.8101645

Path Planning of Multi-UAS Communication Relay by Decentralized MPC

Author(s): Fabio Augusto de Alcantara Andrade, Christopher Dahlin Rodin, Anthony Reinier Hovenburg, Tor Arne Johansen, Rune Storvold
Published in: 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO), 2018, Page(s) 1-8, ISBN 978-1-5386-1654-3
Publisher: IEEE
DOI: 10.1109/oceanskobe.2018.8559333

Inclusion of Horizontal Wind Maps in Path Planning Optimization of UAS

Author(s): Anthony Reinier Hovenburg, Fabio Augusto de Alcantara Andrade, Christopher Dahlin Rodin, Tor Arne Johansen, Rune Storvold
Published in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Page(s) 513-520, ISBN 978-1-5386-1354-2
Publisher: IEEE
DOI: 10.1109/icuas.2018.8453448

Autonomous UAV surveillance of a ship's path with MPC for maritime situational awareness

Author(s): Fabio A. A. Andrade, Rune Storvold, Tor Arne Johansen
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 633-639, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991361

Outline of a system for integrated adaptive ice tracking and multi-agent path planning

Author(s): Jonatan Olofsson, Clas Veiback, Gustaf Hendeby, Tor Arne Johansen
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 13-18, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/RED-UAS.2017.8101636

Object Classification in Thermal Images using Convolutional Neural Networks for Search and Rescue Missions with Unmanned Aerial Systems

Author(s): Christopher Dahlin Rodin, Luciano Netto de Lima, Fabio Augusto de Alcantara Andrade, Diego Barreto Haddad, Tor Arne Johansen, Rune Storvold
Published in: 2018 International Joint Conference on Neural Networks (IJCNN), 2018, Page(s) 1-8, ISBN 978-1-5090-6014-6
Publisher: IEEE
DOI: 10.1109/IJCNN.2018.8489465

Localization of an Acoustic Fish-Tag using the Time-of-Arrival Measurements: Preliminary results using eXogenous Kalman Filter

Author(s): R. Praveen Jain, A. Pedro Aguiar, Joao Borges de Sousa, Artur Zolich, Tor Arne Johansen, Jo Arve Alfredsen, Elias Erstorp, Jakob Kuttenkeuler
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 1695-1702, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8593659

Accuracy of sea ice floe size observation from an aerial camera at slant angles

Author(s): Christopher Dahlin Rodin, Tor Arne Johansen
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 216-221, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/RED-UAS.2017.8101669

Cooperative Path Following of Autonomous Vehicles with Model Predictive Control and Event Triggered Communications

Author(s): Nguyen Tuan Hung, Antonio Pascoal
Published in: 2018
Publisher: Research gate

Skyline based camera attitude estimation using a digital surface model

Author(s): Christopher Dahlin Rodin, Tor Arne Johansen, Annette Stahl
Published in: 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC), 2018, Page(s) 306-313, ISBN 978-1-5386-1946-9
Publisher: IEEE
DOI: 10.1109/amc.2019.8371108

Sea ice tracking with a Spatially Indexed Labeled Multi-Bernoulli filter

Author(s): Jonatan Olofsson, Clas Veiback, Gustaf Hendeby
Published in: 2017 20th International Conference on Information Fusion (Fusion), 2017, Page(s) 1-8, ISBN 978-0-9964-5270-0
Publisher: IEEE
DOI: 10.23919/ICIF.2017.8009672

Contingency path planning for hybrid-electric UAS

Author(s): Anthony Reinier Hovenburg, Fabio Augusto de Alcantara Andrade, Christopher Dahlin Rodin, Tor Arne Johansen, Rune Storvold
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 37-42, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/RED-UAS.2017.8101640

Detectability of Objects at the Sea Surface in Visible Light and Thermal Camera Images

Author(s): Christopher Dahlin Rodin, Tor Arne Johansen
Published in: 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans (OTO), 2018, Page(s) 1-10, ISBN 978-1-5386-1654-3
Publisher: IEEE
DOI: 10.1109/oceanskobe.2018.8559310

Moving Path Following of Constrained Underactuated Systems: A Nonlinear Model Predictive Control Approach

Author(s): R. Praveen Jain, Andrea Alessandretti, Pedro Aguiar, João Sousa
Published in: 2018
Publisher: AIAA SciTech Forum 2018

Cooperative Moving Path Following using Event based Control and Communication

Author(s): R. Praveen Jain, Andrea Alessandretti, Pedro Aguiar, João Sousa
Published in: 2018
Publisher: 13th APCA International Conference on Automatic Control and Soft Computing, Azores

UAS Soaring Trajectories Considering the Atmospheric Boundary Layer for Oceanic Long Duration Missions

Author(s): Leopoldo Rodriguez, Jose A. Cobano, Anibal Ollero
Published in: 2017
Publisher: IEEE

Self-triggered cooperative path following control of fixed wing Unmanned Aerial Vehicles

Author(s): R. Praveen Jain, A. Pedro Aguiar, Joao Sousa
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1231-1240, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991375

Model predictive control of unmanned air vehicles with obstacle avoidance capabilities

Author(s): Alojz Gomola
Published in: 2017
Publisher: FEUP 2017

Optimal control of unmanned air vehicles with obstacle avoidance capabilities in partially known environment

Author(s): Alojz Gomola
Published in: 2017
Publisher: FEUP 2017

Estimation of wind velocities and aerodynamic coefficients for UAVs using standard autopilot sensors and a Moving Horizon Estimator

Author(s): Andreas Wenz, Tor Arne Johansen
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1267-1276, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991443

Smooth trajectory generation for wind field exploitation with a small UAS

Author(s): Leopoldo Rodriguez, Jose A. Cobano, Anibal Ollero
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1241-1249, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991462

Spiral-like coverage path planning for multiple heterogeneous UAS operating in coastal regions

Author(s): Fotios Balampanis, Ivan Maza, Anibal Ollero
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 617-624, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991461

Probabilistic Approach in Data Fusion for Obstacle Avoidance Framework Based on Reach Sets

Author(s): Alojz Gomola
Published in: 2017
Publisher: Internal Publication Collection

A feedback motion strategy applied to a UAV to work as an autonomous relay node for maritime operations

Author(s): J. Braga, A. Alessandretti, A. Pedro Aguiar, Joao Sousa
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 625-632, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991434

Mass estimation of a quadcopter using IMU data

Author(s): Du Ho, Jonas Linder, Gustaf Hendeby, Martin Enqvist
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1260-1266, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991417

Gaussian Field Current Estimation from Drift Sea Ice Tracking with the Labeled Multi-Bernoulli Filter

Author(s): Jonatan Olofsson, Andreas Lindahl Flåten, Clas Veibäck, Tom Rune Lauknes
Published in: 2017
Publisher: IEEE

Self-Triggered Time Coordinated Deployment Strategy for Multiple Relay UAVs to Work as a Point-to-Point Communication Bridge

Author(s): Juan Braga, R. Praveen Jain, Pedro Aguiar, João Sousa
Published in: 2017
Publisher: The 2017 International Workshop on Research, Education and Development on Unmanned Aerial Systems, RED-UAS 2017

Self-triggered time coordinated deployment strategy for multiple relay UAVs to work as a point-to-point communication bridge

Author(s): J. Braga, R. Praveen Jain, A. Pedro Aguiar, Joao Borges de Sousa
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 1-6, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/red-uas.2017.8101634

Aspect-Oriented Solution for Mutual Exclusion in Embedded Systems

Author(s): Alojz Gomola
Published in: 2015
Publisher: ELITECH15

Coordinated Efficient Buoys Data Collection in Large Complex Coastal Environments using UAVs

Author(s): Juan Braga, Fotios Balampanis, Pedro Aguiar, João Sousa, Ivan Maza, Anibal Ollero
Published in: 2017
Publisher: IEEE

Qualitative analysis of guidance and control methods for wind gradients exploitation with small fixed wing UAS

Author(s): Leopoldo Rodriguez, Jose A. Cobano, Anibal Ollero
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 102-107, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/red-uas.2017.8101651

Energy-efficient trajectory generation with spline curves considering environmental and dynamic constraints for small UAS

Author(s): L. Rodriguez, F. Balampanis, J. A. Cobano, I. Maza, A. Ollero
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 1739-1745, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/iros.2017.8205987

Path tracking for waypoint lists based on a pure pursuit method for fixed wing UAS

Author(s): Fotios Balampanis, A. Pedro Aguiar, Ivan Maza, Anibal Ollero
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 55-59, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/red-uas.2017.8101643

Vertical modeling of a quadcopter for mass estimation and diagnosis purposes

Author(s): Du Ho, Jonas Linder, Gustaf Hendeby, Martin Enqvist
Published in: 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2017, Page(s) 192-197, ISBN 978-1-5386-0939-2
Publisher: IEEE
DOI: 10.1109/red-uas.2017.8101665

Cooperative Motion Planning with Time, Energy and Active Navigation Constraints

Author(s): Bahareh Sabetghadam, Rita Cunha, Antonio Pascoal
Published in: 2018
Publisher: IEEE

Coordinated control concept for recovery of a fixed-wing UAV on a ship using a net carried by multirotor UAVs

Author(s): Kristian Klausen, Jostein Borgen Moe, Jonathan Cornel van den Hoorn, Alojz Gomola, Thor I. Fossen, Tor Arne Johansen
Published in: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, Page(s) 964-973, ISBN 978-1-4673-9334-8
Publisher: IEEE
DOI: 10.1109/icuas.2016.7502640

Analysis of data structures and exploration techniques applied to large 3D marine structures using UAS

Author(s): Margarida Faria, Ivan Maza, Antidio Viguria
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 1277-1284, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/icuas.2017.7991348

Wind Efficient Path Planning and Reconfiguration of UAS in Future ATM

Author(s): Leopoldo Rodriguez, Fotios Balampanis, Jose A. Cobano, Ivan Maza, Anibal Ollero
Published in: 2017
Publisher: http://www.atmseminarus.org/

A Nonlinear Model Predictive Control for an AUV to Track and Estimate a Moving Target using Range Measurements

Author(s): R. Praveen Jain, Andrea Alessandretti, Pedro Aguiar, João Sousa
Published in: 2017
Publisher: Robot 2017 - Third Iberian Robotics Conference

Spatially Indexed Clustering for Scalable Tracking of Remotely Sensed Drift Ice

Author(s): Jonatan Olofsson, Edmund Brekke, Thor Inge Fossen, Tor Arne Johansen
Published in: 2017
Publisher: IEEE Aerospace Conference

Icing detection for small fixed wing UAVs using inflight aerodynamic coefficient estimation

Author(s): Andreas Wenz, Tor Arne Johansen
Published in: 2016 IEEE Conference on Control Applications (CCA), 2016, Page(s) 230-236, ISBN 978-1-5090-0755-4
Publisher: IEEE
DOI: 10.1109/CCA.2016.7587841

Wind characterization and mapping using fixed-wing small unmanned aerial systems

Author(s): L. Rodriguez, J. A. Cobano, A. Ollero
Published in: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, Page(s) 178-184, ISBN 978-1-4673-9334-8
Publisher: IEEE
DOI: 10.1109/ICUAS.2016.7502650

Area decomposition, partition and coverage with multiple remotely piloted aircraft systems operating in coastal regions

Author(s): Fotios Balampanis, Ivan Maza, Anibal Ollero
Published in: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, Page(s) 275-283, ISBN 978-1-4673-9334-8
Publisher: IEEE
DOI: 10.1109/ICUAS.2016.7502602

Combining model-free and model-based angle of attack estimation for small fixed-wing UAVs using a standard sensor suite

Author(s): Andreas Wenz, Tor Arne Johansen, Andrea Cristofaro
Published in: 2016 International Conference on Unmanned Aircraft Systems (ICUAS), 2016, Page(s) 624-632, ISBN 978-1-4673-9334-8
Publisher: IEEE
DOI: 10.1109/ICUAS.2016.7502583

Wind field estimation and identification having shear wind and discrete gusts features with a small UAS

Author(s): L. Rodriguez, J. A. Cobano, A. Ollero
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 5638-5644, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759829

Mission performance trade-offs of battery-powered sUAS

Author(s): Anthony Reinier Hovenburg, Tor Arne Johansen, Rune Storvold
Published in: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, Page(s) 601-608, ISBN 978-1-5090-4495-5
Publisher: IEEE
DOI: 10.1109/ICUAS.2017.7991389

Applying Frontier Cells Based Exploration and Lazy Theta* Path Planning over Single Grid-Based World Representation for Autonomous Inspection of Large 3D Structures with an UAS

Author(s): Margarida Faria, Ivan Maza, Antidio Viguria
Published in: Journal of Intelligent & Robotic Systems, 93/1-2, 2019, Page(s) 113-133, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-018-0798-4

Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV

Author(s): Margarida Faria, Ricardo Marín, Marija Popović, Ivan Maza, Antidio Viguria
Published in: Sensors, 19/1, 2019, Page(s) 174, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19010174

Cooperative Path Following of Robotic Vehicles Using an Event-Based Control and Communication Strategy

Author(s): R. Praveen Jain, A. Pedro Aguiar, Joao Borges de Sousa
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1941-1948, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2808363

A Parametric Programming Approach to Automated Integrated Circuit Design

Author(s): Juraj Stevek, Michal Kvasnica, Miroslav Fikar, Alojz Gomola
Published in: IEEE Transactions on Control Systems Technology, 26/4, 2018, Page(s) 1180-1191, ISSN 1063-6536
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tcst.2017.2716378

Coastal Areas Division and Coverage with Multiple UAVs for Remote Sensing

Author(s): Fotios Balampanis, Iván Maza, Aníbal Ollero
Published in: Sensors, 17/4, 2017, Page(s) 808, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17040808

Area Partition for Coastal Regions with Multiple UAS

Author(s): Fotios Balampanis, Ivan Maza, Anibal Ollero
Published in: Journal of Intelligent & Robotic Systems, 88/2-4, 2017, Page(s) 751-766, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-017-0559-9

On the equivalence of forward and inverse IV estimators with application to quadcopter modeling

Author(s): Du Ho, Martin Enqvist
Published in: IFAC-PapersOnLine, 51/15, 2018, Page(s) 951-956, ISSN 2405-8963
Publisher: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2018.09.071

Small UAS-Based Wind Feature Identification System Part 1: Integration and Validation

Author(s): Leopoldo Rodriguez Salazar, Jose Cobano, Anibal Ollero
Published in: Sensors, 17/1, 2017, Page(s) 8, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s17010008

Cooperative path-following control with logic-based communications: theory and practice

Author(s): Francisco C. Rego, Nguyen T. Hung, Colin N. Jones, António M. Pascoal, António Pedro Aguiar
Published in: Navigation and Control of Autonomous Marine Vehicles, 2019, Page(s) 187-224, ISBN 9781-785613388
Publisher: Institution of Engineering and Technology
DOI: 10.1049/pbtr011e_ch8

Architecture of a Flight Endurance Enhancement System for Maritime Operations with Fixed Wing UAS

Author(s): Leopoldo Rodríguez, Jose A. Cobano, Anibal Ollero
Published in: ROBOT 2017: Third Iberian Robotics Conference, 693, 2018, Page(s) 171-182, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_15

Coordinated Multi-UAV Exploration Strategy for Large Areas with Communication Constrains

Author(s): Juan Braga, A. Pedro Aguiar, João Borges de Sousa
Published in: ROBOT 2017: Third Iberian Robotics Conference, 693, 2018, Page(s) 149-160, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_13

Obstacle Avoidance Framework Based on Reach Sets

Author(s): Alojz Gomola, João Borges de Sousa, Fernando Lobo Pereira, Pavel Klang
Published in: ROBOT 2017: Third Iberian Robotics Conference, 693, 2018, Page(s) 768-779, ISBN 978-3-319-70832-4
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-70833-1_62

Some results on closed-loop identification of quadcopters

Author(s): Ho, Du
Published in: 2018, ISBN 9789-176851661
Publisher: Linköping: Linköping University Electronic Press, 2018. , p. 98
DOI: 10.3384/lic.diva-152701