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Marine robotics research infrastructure network

Deliverables

Integrated Experiments Call 2, FAQ, Review Guideline and Infoday

Integrated Experiments Call 2, FAQ, Review Guideline and Infoday

Integrated Experiments Call 1, FAQ, Review Guideline and Infoday

Integrated Experiments Call 1, FAQ, Review Guideline and Infoday

TNA Single Experiments Call 1, FAQ, Review Guideline and Infoday

TNA Single Experiments Call 1, FAQ, Review Guideline and Infoday

Guidelines for TNA calls

Guidelines for TNA calls

TNA Single Experiments Call 2, FAQ, Review Guideline and Infoday

TNA Single Experiments Call 2, FAQ, Review Guideline and Infoday

Project Identity Set

Project Identity Set

e-based Learning Materials

e-based Learning Materials

First project video released

First project video released

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

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

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Publications

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
DOI: 10.1109/auv50043.2020.9267934

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
DOI: 10.1109/auv50043.2020.9267903

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
DOI: 10.1109/auv50043.2020.9267922

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
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
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
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

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
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
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
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
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
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
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

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

Author(s): B. Sabetghadam, R. Cunha, A. Pascoal
Published in: 2018

AUV Path Planning, Navigation, and Control using Geophysical Data

Author(s): P. Lima, A. Pascoal, I. Kaminer
Published in: 2019

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

Author(s): J. Ribeiro, J. Gomes, R. Dinis
Published in: 2019

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
DOI: 10.23919/oceans40490.2019.8962569

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
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

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
DOI: 10.1109/auv50043.2020.9267889

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
DOI: 10.1109/auv50043.2020.9267935

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
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
DOI: 10.1109/auv50043.2020.9267894

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
DOI: 10.1109/auv50043.2020.9267927

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
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
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
DOI: 10.1109/tac.2020.2999329

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
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
DOI: 10.1002/rnc.4896

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
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
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
DOI: 10.1016/j.conengprac.2020.104657

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
DOI: 10.1080/00207179.2020.1849806

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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
DOI: 10.1002/rob.21991

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
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
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
DOI: 10.3390/rs12223683

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
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
DOI: 10.1109/tac.2020.3027658

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

Author(s): Nguyen Hung
Published in: PhD Thesis, 2021

A Range-Based Positioning System for Autonomous Underwater Vehicles

Author(s): Inês Cruz
Published in: MSc Thesis, 2019

Motion Planning for Multiple Autonomous Robotic Vehicles using Optimization Tools

Author(s): João Garcia
Published in: MSc Thesis, 2019

Range-Based Underwater Target Localization and Tracking

Author(s): João Lopes
Published in: MSc Thesis, 2021

Motion Planning for Cooperative Autonomous Robots using optimization Tools

Author(s): Thomas Berry
Published in: MSc Thesis, 2021

A Navigation System for Under-the-Ice Robotic Operations

Author(s): Bruno Alves
Published in: MSc Thesis, 2019

Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks

Author(s): Rodrigo Rego
Published in: MSc Thesis, 2021

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
DOI: 10.1007/978-3-030-53829-3_12