Marine robotics research infrastructure network

Project Information

EUMarineRobots

Grant agreement ID: 731103

DOI 10.3030/731103

Project closed

EC signature date 8 December 2017

Start date 1 March 2018

End date 30 November 2021

Funded under

• EXCELLENT SCIENCE - Research Infrastructures

Total cost € 4 998 736,75

EU contribution € 4 998 736,75

Coordinated by

UNIVERSIDADE DO PORTO
Portugal

Deliverables

Documents, reports (7)

Integrated Experiments Call 2, FAQ, Review Guideline and Infoday
Integrated Experiments Call 1, FAQ, Review Guideline and Infoday
TNA Single Experiments Call 1, FAQ, Review Guideline and Infoday
Semestral newsletters

Semestral newslettersOther due dates month 12 and month 24

Guidelines for TNA calls
TNA Single Experiments Call 2, FAQ, Review Guideline and Infoday
Project Identity Set

Other (3)

e-based Learning Materials
Integrated Experiments: TNA access

Integrated Experiments TNA access

TNA Single Experiments: TNA access

TNA Single Experiments TNA access

Websites, patent fillings, videos etc. (3)

First project video released
e-Infrastructure Pilot

eInfrastructure Pilot

EUMR dissemination resources (Rollup, posters, brochures, leaflets, etc.)

Publications

Conference proceedings (42)

A Probabilistic 3D Map Representation for Forward-Looking SONAR Reconstructions

Author(s): Matteo Franchi, Alessandro Bucci, Leonardo Zacchini, Edoardo Topini, Alessandro Ridolfi, Benedetto Allotta
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-6, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267934

The Use of Bézier Curves for Optimal Motion Planning of Autonomous Vehicle

Author(s): T. Berry, A. Pascoal
Published in: 2021 International Young Engineers Forum (YEF-ECE), 2021
Publisher: IEEExplore
DOI: 10.1109/yef-ece52297.2021.9505058

Marine Vehicles Localization Using Grid Cells for Path Integration

Author(s): Carlucho, Ignacio; Bailey, Manuel F.; De Paula, Mariano; Barbalata, Corina
Published in: IEEE/MTS OCEANS 2021 Global, San Diego - Porto, Issue 5, 2021
Publisher: IEEE

Randomized MPC for view planning in AUV seabed inspections

Author(s): Leonardo Zacchini, Matteo Franchi, Alessandro Bucci, Nicola Secciani, Alessandro Ridolfi
Published in: IEEE/MTS OCEANS 2021 Global, San Diego - Porto, 2021
Publisher: IEEE

Receding-horizon sampling-based sensor-driven coverage planning strategy for AUV seabed inspections

Author(s): Leonardo Zacchini, Alessandro Ridolfi, Benedetto Allotta
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-6, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267903

Advancing the EU Marine Robotics Research Infrastructure Network: the EU Marine Robots project

Author(s): Antonelli, Gianluca and Indiveri, Giovanni and Barrera, Carlos and Caccia, Massimo and Dooly, Gerard and Flavin, Niamh and Ferreira, Fausto and Mišković, Nikola and Furlong, Maaten and Kopf, Achim and Bachmayer, Ralf and Ludvigsen, Martin and Opderbecke, Jan and Pascoal, António and Petroccia, Roberto and Alves, João and Ridao, Pere and Vallicrosa, Guillem and De Sousa, João Borges and Costa,
Published in: OCEANS 2021: San Diego – Porto, 2021, Page(s) 1-10, ISBN 978-0-692-93559-0
Publisher: IEEE
DOI: 10.23919/oceans44145.2021.9705791

NetMarSyS - A Tool for the Simulation and Visualization of Distributed Autonomous Marine Robotic Systems

Author(s): Shubham Garg, Joao Quintas, Joao Cruz, Antonio M. Pascoal
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), Issue October, 2020, 2020, Page(s) 1-5, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267922

3D Tracking of a River Plume Front with an AUV

Author(s): D. Teixeira, J. B. d. Sousa, R. Mendes and J. Fonseca
Published in: OCEANS 2021: San Diego – Porto, 2021, ISBN 978-0-692-93559-0
Publisher: IEEE
DOI: 10.23919/oceans44145.2021.9705995

Large Scale Unmanned Vehicles Oceanic Exercise REP(MUS)19 Field Report

Author(s): Paulo Sousa Dias, Maria Costa, Jose Pinto, Keila Lima, Luis Venancio, Miguel Aguiar, Joao Borges Sousa
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-2, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267898

Localisation Approaches for Underwater Autonomy within the EUMarineRobots H2020 project: experimental activity at SEALab

Author(s): Matteo Bresciani, Giovanni Peralta, Francesco Ruscio, Riccardo Costanzi, Leonardo Zacchini, Matteo Franchi, Alberto Topini, Alessandro Ridolfi, Lorenzo Bazzarello, Vincenzo Manzari, Szymon Krupinski, Francesco Maurelli
Published in: IEEE/MTS OCEANS 2021 Global, San Diego - Porto, 2021
Publisher: IEEE

Autonomous Tracking System of a Moving Target for Underwater Operations of Work-class ROVs

Author(s): Santos, Phillipe, Matheus Santos, Petar Trslic, Edin Omerdic, Daniel Toal, and Gerard Dooly
Published in: OCEANS 2021: San Diego – Porto, 2021, ISBN 978-0-692-93559-0
Publisher: ieeexplore
DOI: 10.23919/oceans44145.2021.9706052

Minimal time delivery of multiple robots

Author(s): Miguel Aguiar, Jorge Estrela da Silva, Joao Borges de Sousa
Published in: 2020 59th IEEE Conference on Decision and Control (CDC), 2020, Page(s) 1572-1577, ISBN 978-1-7281-7447-1
Publisher: IEEE
DOI: 10.1109/cdc42340.2020.9304510

A Monocular Hybrid Visual Servoing Controller for Underwater Inspection on Work-class ROVs

Author(s): Santos, Matheus, Phillipe Santos, Petar Trslic, Edin Omerdic, Daniel Toal, and Gerard Dooly
Published in: OCEANS 2021: San Diego – Porto, 2021, ISBN 978-0-692-93559-0
Publisher: ieeexplore
DOI: 10.23919/oceans44145.2021.9705705

Intelligent Risk-Based Under-Ice Altitude Control for Autonomous Underwater Vehicles

Author(s): Jens E. Bremnes, Petter Norgren, Asgeir J. Sorensen, Christoph A. Thieme, Ingrid B. Utne
Published in: OCEANS 2019 MTS/IEEE SEATTLE, 2019, Page(s) 1-8, ISBN 978-0-578-57618-3
Publisher: IEEE
DOI: 10.23919/oceans40490.2019.8962532

RadarSLAM: Radar based Large-Scale SLAM in All Weathers

Author(s): Ziyang Hong, Yvan Petillot, Sen Wang
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2020, 2020, Page(s) 5164-5170, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341287

Simulation and forecasting of ice drift as a tool for autonomous under ice operations

Author(s): Tore Mo-Bjorkelund, Petter Norgren, Martin Ludvigsen
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-6, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267921

TextPlace: Visual Place Recognition and Topological Localization through Reading Scene Texts

Author(s): Ziyang Hong, Yvan Petillot, David Lane, Yishu Miao, Sen Wang
Published in: IEEE International Conference on Computer Vision (ICCV), 2019
Publisher: IEEE

Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface

Author(s): Patryk Cieslak
Published in: OCEANS 2019 - Marseille, 2019, Page(s) 1-6, ISBN 978-1-7281-1450-7
Publisher: IEEE
DOI: 10.1109/oceanse.2019.8867434

Convolutional Neural Network Architectures for Sonar-Based Diver Detection and Tracking

Author(s): Igor Kvasic, Nikola Miskovic, Zoran Vukic
Published in: OCEANS 2019 - Marseille, 2019, Page(s) 1-6, ISBN 978-1-7281-1450-7
Publisher: IEEE
DOI: 10.1109/oceanse.2019.8867461

Underwater Archaeology with Light AUVs

Author(s): Maria Costa, Jose Pinto, Manuel Ribeiro, Keila Lima, Alexandre Monteiro, Peter Kowalczyk, Joao Sousa
Published in: OCEANS 2019 - Marseille, 2019, Page(s) 1-6, ISBN 978-1-7281-1450-7
Publisher: IEEE
DOI: 10.1109/oceanse.2019.8867503

Safety-Related Tasks Within the Set-Based Task-Priority Inverse Kinematics Framework

Author(s): Paolo Di Lillo, Filippo Arrichiello, Gianluca Antonelli, Stefano Chiaverini
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6130-6135, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/IROS.2018.8593884

Water Take-off and Landing Hybrid Copter approach for Maritime CONOPs

Author(s): Joao Galante, Manuel Ribeiro, Roberto de Nobrega, Jorge Neiva, Antonio Sargio Ferreira, Joao Borges Sousa
Published in: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), 2019, Page(s) 475-481, ISBN 978-1-7281-0333-4
Publisher: IEEE
DOI: 10.1109/icuas.2019.8798079

REP18 Atlantic – A Large Scale Exercise Using Unmanned Systems, Field Report

Author(s): Keila Lima, Paulo Sousa Dias, Maria Costa, Jose Pinto, Tiago Marques, Joao Borges Sousa, Sara Cardigos, Renato Mendes
Published in: OCEANS 2019 - Marseille, 2019, Page(s) 1-7, ISBN 978-1-7281-1450-7
Publisher: IEEE
DOI: 10.1109/oceanse.2019.8867283

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

Author(s): F. Rego, N. Hung, A. Pascoal
Published in: 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018
Publisher: IEEE
DOI: 10.1109/auv.2018.8729809

Cooperative Motion Planning with Time, Energy, and Active Navigation Constraints

Author(s): B. Sabetghadam, R. Cunha, A. Pascoal
Published in: 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018
Publisher: IEEE
DOI: 10.1109/auv.2018.8729781

AUV Path Planning, Navigation, and Control using Geophysical Data

Author(s): Quintas, J. and Hung, N. and Crasta, N. and Curado-Teixeira, F. and Lima, P. and Pascoal, A. and Kaminer, I.
Published in: OCEANS 2019 - Marseille, 2019
Publisher: IEEE
DOI: 10.1109/oceanse.2019.8867535

An interference cancellation approach for MIMO orthogonal signal-division multiplexing in time-varying channels

Author(s): J. Ribeiro, J. Gomes, R. Dinis
Published in: OCEANS 2019 - Marseille, 2019
Publisher: IEEE
DOI: 10.1109/oceanse.2019.8867407

Optimizing autonomous underwater vehicle routes with the aid of high resolution ocean models

Author(s): Miguel Aguiar, Joao Borges de Sousa, Joao Miguel Dias, Jorge Estrela da Silva, Renato Mendes, Americo S. Ribeiro
Published in: OCEANS 2019 MTS/IEEE SEATTLE, 2019, Page(s) 1-7, ISBN 978-0-578-57618-3
Publisher: IEEE
DOI: 10.23919/oceans40490.2019.8962569

Wireless radio link design to improve nearshore communication with surface nodes on tidal waters

Author(s): Gutiérrez Gaitán, Miguel; d'Orey, Pedro; Santos, Pedro Miguel; Ribeiro, Manuel; Pinto, Luís; Almeida, Luís; Sousa, J. Borges de
Published in: OCEANS 2021: San Diego – Porto, Issue 3, 2021
Publisher: IEEE
DOI: 10.23919/oceans44145.2021.9706046

Consistent approximation of optimal control problems using Bernstein polynomials

Author(s): Venanzio Cichella, Isaac Kaminer, Claire Walton, Naira Hovakimyan, Antonio M. Pascoal
Published in: 2019 IEEE 58th Conference on Decision and Control (CDC), Issue December 2019, 2019, Page(s) 4292-4297, ISBN 978-1-7281-1398-2
Publisher: IEEE
DOI: 10.1109/cdc40024.2019.9029677

Inspection of Submerged Structures

Author(s): Vasilijevic, Antonio; Kapetanovic, Nadir; Miskovic, Nikola
Published in: Proceedings of the 17th IMEKO TC 10 and EUROLAB Virtual Conference, 2020
Publisher: IMEKO

Intelligent Buoys for Aiding AUV Navigation Under the Ice

Author(s): Petter Norgren, Tore Mo-Bjorkelund, Kenneth Gade, Oyvind Hegrenas, Martin Ludvigsen
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-7, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267889

Outlier Robust State Estimation Through Smoothing on a Sliding Window

Author(s): Daniela De Palma and Giovanni Indiveri
Published in: 2020
Publisher: Proceedings of the 21st IFAC World Congress 2020 - IFAC 2020
DOI: 10.1016/j.ifacol.2020.12.1473

The Marine Robotics Research Infrastructure Network (EUMarine Robots): An Overview

Author(s): Daniel Alcaraz, Gianluca Antonelli, Massimo Caccia, Gerard Dooly, Niamh Flavin, Achim Kopf, Martin Ludvigsen, Jan Opderbecke, Matthew Palmer, Antonio Pascoal, Joao Borges de Sousa, Roberto Petroccia, Pere Ridao, Nikola Miskovic, Sen Wang
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-2, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267940

A Network Navigation System With Opportunistic Use of One-way and Two-way Acoustic Ranging: the DANS20 Experience

Author(s): Gabriele Ferri, Roberto Petroccia, Tommaso Fabbri, Alessandro Faggiani, Alessandra Tesei
Published in: IEEE/MTS OCEANS 2021 Global, San Diego - Porto, 2021
Publisher: IEEE

Hybrid acoustic-optical underwater communication networks for next-generation cooperative systems: the EUMR experience

Author(s): J. Quintas, R. Petroccia, A. Pascoal, J. Cruz, P. Gois, L. Morlando, M. Stipanov
Published in: IEEE/MTS OCEANS 2021 Global, San Diego - Porto, 2021, Page(s) 1-7
Publisher: IEEE

Sparus II AUV as a Sensor Suite for Underwater Archaeology: Falconera Cave Experiments

Author(s): Guillem Vallicrosa, Manuel J. Fumas, Florian Huber, Pere Ridao
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), 2020, Page(s) 1-5, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267935

Development of a Multi-Platform Obstacle Avoidance System for Autonomous Underwater Vehicles

Author(s): Francesco Fanelli, Davide Fenucci, Rachel Marlow, Miles Pebody, Alexander B. Phillips
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), Issue October, 2020, 2020, Page(s) 1-6, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267942

A Comparison of Nonlinear Filters for Underwater Geomagnetic Navigation

Author(s): Joao Quintas, Joao Cruz, Antonio Pascoal, Francisco Curado Teixeira
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), Issue October, 2020, 2020, Page(s) 1-6, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267915

A Navigation Algorithm for Under-the-Ice Robotic Operations

Author(s): Bruno Alves, Antonio Pascoal, Tiago Hormigo
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), Issue October, 2020, 2020, Page(s) 1-6, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267894

Underwater Visual Acoustic SLAM with Extrinsic Calibration

Author(s): Shida Xu, Tomasz Luczynski, Jonatan Scharff Willners, Ziyang Hong, Kaicheng Zhang, Yvan R Petillot, Sen Wang
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Publisher: IEEE
DOI: 10.1109/iros51168.2021.9636258

Cooperative Multiple Formation Control of Autonomous Marine Vehicles

Author(s): Diogo Teixeira, Antonio M. Pascoal
Published in: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043), Issue October, 2020, 2020, Page(s) 1-3, ISBN 978-1-7281-8757-0
Publisher: IEEE
DOI: 10.1109/auv50043.2020.9267927

Peer reviewed articles (45)

Online Range-Based SLAM Using B-Spline Surfaces

Author(s): Romulo T. Rodrigues, Nikolaos Tsiogkas, Antonio Pascoal, A. Pedro Aguiar
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 1958-1965, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3060672

Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep

Author(s): Nadir Kapetanović, Antonio Vasilijević, Đula Nađ, Krunoslav Zubčić, Nikola Mišković
Published in: Remote Sensing, Issue 12/23, 2020, Page(s) 3902, ISSN 2072-4292
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/rs12233902

Optimal Multivehicle Motion Planning Using Bernstein Approximants

Author(s): Venanzio Cichella, Isaac Kaminer, Claire Walton, Naira Hovakimyan, Antonio M. Pascoal
Published in: IEEE Transactions on Automatic Control, Issue 66/4, 2021, Page(s) 1453-1467, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.2999329

Thermal management of solar photovoltaic panels using a fibre Bragg grating sensor-based temperature monitoring

Author(s): Dhanalakshmi, S., Chakravartula, V., Narayanamoorthi, R., Kumar, R., Dooly, G., Duraibabu, D. B., & Senthil, R.
Published in: Case Studies in Thermal Engineering (2022), 2022, Page(s) 101834, ISSN 2214-157X
Publisher: Elsevier BV
DOI: 10.1016/j.csite.2022.101834

Semantic Mapping for Autonomous Subsea Intervention

Author(s): Guillem Vallicrosa, Khadidja Himri, Pere Ridao, Nuno Gracias
Published in: Sensors, Issue 21/20, 2021, Page(s) 6740, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21206740

Extrinsic Visual–Inertial Calibration for Motion Distortion Correction of Underwater 3D Scans

Author(s): Miguel Castillon, Roger Pi, Narcis Palomeras, Pere Ridao
Published in: IEEE Access, Issue 9, 2021, Page(s) 93384-93398, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3092180

Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View

Author(s): Ridolfi Alessandro, Nicola Secciani, Mascha Stroobant, Matteo Franchi, Leonardo Zacchini, Riccardo Costanzi, Giovanni Peralta, and Luigi Enrico Cipriani
Published in: Journal of Marine Science and Engineering, Issue 9(10), 2021, ISSN 2077-1312
Publisher: MDPI
DOI: 10.3390/jmse9101111

Neuro-Fuzzy Dynamic Position Prediction for Autonomous Work-Class ROV Docking

Author(s): Petar Trslić, Edin Omerdic, Gerard Dooly, Daniel Toal
Published in: Sensors, Issue 20/3, 2020, Page(s) 693, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20030693

Cooperative path following of constrained autonomous vehicles with model predictive control and event‐triggered communications

Author(s): Nguyen T. Hung, Antonio M. Pascoal, Tor A. Johansen
Published in: International Journal of Robust and Nonlinear Control, Issue 30/7, 2020, Page(s) 2644-2670, ISSN 1049-8923
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/rnc.4896

Control Protocols for Range-Based Navigation of a Networked Group of Underwater Vehicles

Author(s): Daniela De Palma, Giovanni Indiveri, Gianfranco Parlangeli
Published in: Frontiers in Robotics and AI, 2020, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2020.519985

Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information

Author(s): Khadidja Himri, Pere Ridao, Nuno Gracias
Published in: Sensors, Issue 21/5, 2021, Page(s) 1807, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051807

A forward-looking SONAR and dynamic model-based AUV navigation strategy: Preliminary validation with FeelHippo AUV

Author(s): Matteo Franchi, Alessandro Ridolfi, Marco Pagliai
Published in: Ocean Engineering, Issue 196, 2020, Page(s) 106770, ISSN 0029-8018
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.oceaneng.2019.106770

Cloud-based mission control of USV fleet: Architecture, implementation and experiments

Author(s): Zhao Wang, Shaolong Yang, Xianbo Xiang, Antonio Vasilijević, Nikola Mišković, Đula Nađ
Published in: Control Engineering Practice, Issue 106, 2021, Page(s) 104657, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2020.104657

Comparison of feature detection and outlier removal strategies in a mono visual odometry algorithm for underwater navigation

Author(s): Alessandro Bucci, Leonardo Zacchini, Matteo Franchi, Alessandro Ridolfi, Benedetto Allotta
Published in: Elsevier Applied Ocean Research, Issue Volume 118, January 2022, 2022, ISSN 0141-1187
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.apor.2021.102961

Adaptive Sampling of Surface Fronts in the Arctic Using an Autonomous Underwater Vehicle

Author(s): Fossum, Trygve Olav; Norgren, Petter; Fer, Ilker; Nilsen, Frank; Koenig, Zoe Charlotte; Ludvigsen, Martin
Published in: IEEE Journal of Oceanic Engineering, 2021, ISSN 1558-1691
Publisher: IEEE
DOI: 10.1109/joe.2021.3070912

2D Forward Looking SONAR in Underwater Navigation Aiding: an AUKF-based strategy for AUVs

Author(s): Franchi Matteo, Alessandro Ridolfi, and Leonardo Zacchini
Published in: IFAC-PapersOnLine, Issue Volume 53, Issue 2, 2020, Page(s) 14570-14575, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2020.12.1463

Consensus/synchronisation of networked nonlinear multiple agent systems with event-triggered communications

Author(s): Nguyen T. Hung, Antonio M. Pascoal
Published in: International Journal of Control, 2020, Page(s) 1-10, ISSN 0020-7179
Publisher: Taylor & Francis
DOI: 10.1080/00207179.2020.1849806

Model-Validation and Implementation of a Path-Following Algorithm in an Autonomous Underwater Vehicle

Author(s): Jose Villa, Guillem Vallicrosa, Jussi Aaltonen, Pere Ridao, Kari T. Koskinen
Published in: Applied sciences, 2021, ISSN 2076-3417
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/app112411891

Vision-Based Localization System Suited to Resident Underwater Vehicles

Author(s): Petar Trslić, Anthony Weir, James Riordan, Edin Omerdic, Daniel Toal, Gerard Dooly
Published in: Sensors, Issue 20/2, 2020, Page(s) 529, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20020529

Vision based autonomous docking for work class ROVs

Author(s): Petar Trslic, Matija Rossi, Luke Robinson, Cathal W. O’Donnel, Anthony Weir, Joseph Coleman, James Riordan, Edin Omerdic, Gerard Dooly, Daniel Toal
Published in: Ocean Engineering, Issue 196, 2020, Page(s) 106840, ISSN 0029-8018
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.oceaneng.2019.106840

Practical formulation of obstacle avoidance in the Task-Priority framework for use in robotic inspection and intervention scenarios

Author(s): Patryk Cieślak, Roberto Simoni, Pere Ridao Rodríguez, Dina Youakim
Published in: Robotics and Autonomous Systems, Issue 124, 2020, Page(s) 103396, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2019.103396

Underwater Image Enhancement and Mosaicking System Based on A-KAZE Feature Matching

Author(s): Iman Abaspur Kazerouni, Gerard Dooly, Daniel Toal
Published in: Journal of Marine Science and Engineering, Issue 8/6, 2020, Page(s) 449, ISSN 2077-1312
Publisher: MDPI
DOI: 10.3390/jmse8060449

Underwater Laser Scanner: Ray-based Model and Calibration

Author(s): Albert Palomer Vila, Pere Ridao, Josep Forest, David Ribas
Published in: IEEE/ASME Transactions on Mechatronics, 2019, Page(s) 1-1, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2019.2929652

H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps

Author(s): Guillem Vallicrosa, Pere Ridao
Published in: Sensors, Issue 18/5, 2018, Page(s) 1386, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18051386

Robust Attentional Aggregation of Deep Feature Sets for Multi-view 3D Reconstruction

Author(s): Bo Yang, Sen Wang, Andrew Markham, Niki Trigoni
Published in: International Journal of Computer Vision, 2019, ISSN 0920-5691
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s11263-019-01217-w

Circular formation control for cooperative target tracking with limited information

Author(s): Lara Briñón-Arranz, Alexandre Seuret, António Pascoal
Published in: Journal of the Franklin Institute, Issue 356/4, 2019, Page(s) 1771-1788, ISSN 0016-0032
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.jfranklin.2018.12.011

Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization

Author(s): N. Crasta, D. Moreno-Salinas, A.M. Pascoal, J. Aranda
Published in: Annual Reviews in Control, Issue 46, 2018, Page(s) 326-342, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2018.10.004

Multiple underwater target positioning with optimally placed acoustic surface sensor networks

Author(s): David Moreno-Salinas, Antonio Manuel Pascoal, Joaquín Aranda
Published in: International Journal of Distributed Sensor Networks, Issue 14/5, 2018, Page(s) 155014771877323, ISSN 1550-1477
Publisher: SAGE
DOI: 10.1177/1550147718773234

Distributed state estimation for discrete-time linear time invariant systems: A survey

Author(s): Francisco F.C. Rego, António M. Pascoal, A. Pedro Aguiar, Colin N. Jones
Published in: Annual Reviews in Control, 2019, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2019.08.003

State of the Art of Underwater Active Optical 3D Scanners

Author(s): Miguel Castillón, Albert Palomer, Josep Forest, Pere Ridao
Published in: Sensors, Issue 19/23, 2019, Page(s) 5161, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19235161

3D Object Recognition Based on Point Clouds in Underwater Environment with Global Descriptors: A Survey

Author(s): Himri, Ridao, Gracias
Published in: Sensors, Issue 19/20, 2019, Page(s) 4451, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19204451

Multi-Representation Multi-Heuristic A* Motion Planning for a Dual-Arm Underwater Vehicle Manipulation System

Author(s): Roger Pi, Dina Youakim, Patrick Cieslak, Pere Ridao
Published in: IFAC-PapersOnLine, Issue 52/21, 2019, Page(s) 205-210, ISSN 2405-8963
Publisher: ScienceDirect
DOI: 10.1016/j.ifacol.2019.12.308

Multirepresentation, Multiheuristic A* search‐based motion planning for a free‐floating underwater vehicle‐manipulator system in unknown environment

Author(s): Dina Youakim, Patryk Cieslak, Andrew Dornbush, Albert Palomer, Pere Ridao, Maxim Likhachev
Published in: Journal of Field Robotics, 2020, ISSN 1556-4959
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rob.21923

Towards Advancing Diver-Robot Interaction Capabilities

Author(s): Đula Nađ, Christopher Walker, Igor Kvasić, Derek Orbaugh Antillon, Nikola Mišković, Iain Anderson, Ivan Lončar
Published in: IFAC-PapersOnLine, Issue 52/21, 2019, Page(s) 199-204, ISSN 2405-8963
Publisher: IFAC-PapersOnLine, Published by Elsevier
DOI: 10.1016/j.ifacol.2019.12.307

Sensitivity Analysis for TDoA-based Localisation in Underwater Sensor Networks

Author(s): Ivan Lončar, Nikola Mišković
Published in: IFAC-PapersOnLine, Issue 52/21, 2019, Page(s) 193-198, ISSN 2405-8963
Publisher: IFAC-PapersOnLine, Published by Elsevier Ltd.
DOI: 10.1016/j.ifacol.2019.12.306

Underwater navigation with 2D forward looking SONAR: An adaptive unscented Kalman filter‐based strategy for AUVs

Author(s): Matteo Franchi, Alessandro Ridolfi, Benedetto Allotta
Published in: Journal of Field Robotics, 2020, ISSN 1556-4959
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rob.21991

Unsupervised anomaly detection for underwater gliders using generative adversarial networks

Author(s): Peng Wu; Catherine A. Harris; Georgios Salavasidis; Alvaro Lorenzo-Lopez; Izzat Kamarudzaman; Alexander B. Phillips; Giles Thomas; Enrico Anderlini
Published in: Engineering Applications of Artificial Intelligence, Volume 104, Issue 3, 2021, ISSN 0952-1976
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.engappai.2021.104379

Review of Fiber Optical Sensors and Its Importance in Sewer Corrosion Factor Analysis

Author(s): Bharathi Raju; R. Kumar; Samiappan Dhanalakshmi; Gerard Dooly; Dinesh Babu Duraibabu
Published in: Chemosensors, Vol 9, Iss 118, p 118 (2021), Issue 4, 2021, ISSN 2227-9040
Publisher: MDPI
DOI: 10.3390/chemosensors9060118

DeepSLAM: A Robust Monocular SLAM System With Unsupervised Deep Learning

Author(s): Ruihao Li, Sen Wang, Dongbing Gu
Published in: IEEE Transactions on Industrial Electronics, Issue 68/4, 2021, Page(s) 3577-3587, ISSN 0278-0046
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tie.2020.2982096

Range-based target localization and pursuit with autonomous vehicles: An approach using posterior CRLB and model predictive control

Author(s): Nguyen T. Hung, N. Crasta, David Moreno-Salinas, António M. Pascoal, Tor A. Johansen
Published in: Robotics and Autonomous Systems, Issue 132, 2020, Page(s) 103608, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2020.103608

Autonomous Vehicles Mapping Plitvice Lakes National Park, Croatia

Author(s): Nadir Kapetanović, Branko Kordić, Antonio Vasilijević, Đula Nađ, Nikola Mišković
Published in: Remote Sensing, Issue 12/22, 2020, Page(s) 3683, ISSN 2072-4292
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/rs12223683

Maximum A Posteriori estimation for AUV localization with USBL measurements

Author(s): Matteo Franchi, Alessandro Bucci, Leonardo Zacchini, Alessandro Ridolfi, Matteo Bresciani, Giovanni Peralta, RIccardo Costanzi
Published in: IFAC-PapersOnLine, Issue Volume 54, Issue 16, 2021, Page(s) 307-313, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2021.10.109

The Value Function as a Decision Support Tool in Unmanned Vehicle Operations

Author(s): Miguel Aguiar, João Borges de Sousa, João Miguel Dias, Jorge Estrela da Silva, Américo S. Ribeiro, Renato Mendes
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 14608-14613, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2020.12.1469

Development of Visual Servoing-Based Autonomous Docking Capabilities in a Heterogeneous Swarm of Marine Robots

Author(s): Anja Babić, Filip Mandić, Nikola Mišković
Published in: Applied Sciences, Issue 10/20, 2020, Page(s) 7124, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app10207124

A Distributed Luenberger Observer for Linear State Feedback Systems with Quantized and Rate-limited Communications

Author(s): Francisco CastroRego, Ye Pu, Andrea Alessandretti, A. Pedro Aguiar, Antonio Manuel Pascoal, Colin N. Jones
Published in: IEEE Transactions on Automatic Control, 2020, Page(s) 1-1, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2020.3027658

Thesis and dissertations (7)

Cooperative Control and Estimation of Multi-Agent Systems under Communication Constraints

Author(s): Nguyen Hung
Published in: PhD Thesis, 2021
Publisher: IST - University of Lisbon

A Range-Based Positioning System for Autonomous Underwater Vehicles

Author(s): Inês Cruz
Published in: MSc Thesis, 2019
Publisher: IST - University of Lisbon

Motion Planning for Multiple Autonomous Robotic Vehicles using Optimization Tools

Author(s): João Garcia
Published in: MSc Thesis, 2019
Publisher: IST - University of Lisbon

Range-Based Underwater Target Localization and Tracking

Author(s): João Lopes
Published in: MSc Thesis, 2021
Publisher: IST - University of Lisbon

Motion Planning for Cooperative Autonomous Robots using optimization Tools

Author(s): Thomas Berry
Published in: MSc Thesis, 2021
Publisher: IST - University of Lisbon

A Navigation System for Under-the-Ice Robotic Operations

Author(s): Bruno Alves
Published in: MSc Thesis, 2019
Publisher: IST - University of Lisbon

Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks

Author(s): Rodrigo Rego
Published in: MSc Thesis, 2021
Publisher: IST - University of Lisbon

Book chapters (1)

Assessing the Current State of a Shipwreck Using an Autonomous Marine Robot: Szent Istvan Case Study

Author(s): Nadir Kapetanović, Antonio Vasilijević, Krunoslav Zubčić
Published in: Distributed Computing and Artificial Intelligence, Special Sessions, 17th International Conference, Issue 1242, 2021, Page(s) 126-135, ISBN 978-3-030-53828-6
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-53829-3_12