António Pedro Aguiar

António Pedro Aguiar

Collaborators

Position: Associate Professor (FEUP)

Dynamical Systems and Ocean Robotics Lab (DSOR)

tp.aobsilu.ocincet.rsi@ordep

Phone :+351-218418056

Personal Page

Journal Papers

[1] Rômulo Rodrigues, Meysam Basiri, António Pedro Aguiar, Pedro Miraldo, Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields, IEEE Robotics and Automation Letters ( Volume: 3, Issue: 3, July 2018 ) , 2018
[2] V. Cichella, Ronald Choe, S. Bilal Mehdi, E. Xargay, N. Hovakimyan, V. Dobrokhodov, I. Kaminer, António Pascoal, António Pedro Aguiar, Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles, IEEE Control Systems Magazine, Vol. 36, No.4, pp. 59-82, August, 2016
[3] Andreas Häusler, Alessandro Saccon, António Pedro Aguiar, J. Hauser, António Pascoal, Energy-optimal motion planning for multiple robotic vehicles with collision avoidance, IEEE Transactions on Control Systems Technology, Vol. 24, No. 3, pp. 867-883, May, 2016
[4] Mohammadreza Bayat, Naveena Crasta, António Pedro Aguiar, António Pascoal, Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments, IEEE Transactions on Control Systems Technology, Vol. 24, No. 1, January, 2016 - PDF
[5] Naveena Crasta, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements, Elsevier, Annual Reviews in Control, Vol. 40, pp. 142–156, October, 2015 - PDF
[6] V. Cichella, I. Kaminer, V. Dobrokhodov, E. Xargay, Ronald Choe, N. Hovakimyan, António Pedro Aguiar, António Pascoal, Cooperative path-following of multiple multirotors over time-varying networks, IEEE Transactions on Automation Science and Engineering, Vol. 12, No. 3, pp. 945-957, July, 2015
[7] A. Marino, G. Antonelli, António Pedro Aguiar, António Pascoal, S. Chiaverini, A Decentralized Strategy for Multirobot Sampling/Patrolling: Theory and Experiments, IEEE Transactions on Control Systems Technology, Vol. 23, Issue 1, pp. 313-322, January, 2015
[8] Mohammadreza Bayat, António Pedro Aguiar, Underwater Localization and Mapping: Observability Analysis and Experimental Results, Industrial Robot: An International Journal, vol. 41, issue 2, pp. 213-224, 2014 - PDF
[9] F. Arrichiello, G. Antonelli, António Pedro Aguiar, António Pascoal, An Observability Metric for Underwater Vehicle Localization Using Range Measurements, Sensors, 13(12), pp. 16191-16215, November, 2013 - PDF
[10] E. Xargay, I. Kaminer, António Pascoal, N. Hovakimyan, V. Dobrokhodov, V. Cichella, António Pedro Aguiar, Reza Ghabcheloo, Time-Critical Cooperative Path Following of Multiple UAVs over Time-Varying Networks, AIAA Journal of Guidance, Control, and Dynamics, Vol. 36, No. 2, pp. 499-516, , 2013 - PDF
[11] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Optimal Control on Lie Groups: The Projection Operator Approach, IEEE Transactions on Automatic Control, Vol. 58, No. 9, pp. 2230-2245, September, 2013 - PDF
[12] O. Namaki-Shoustari, António Pedro Aguiar, A. K. Sedigh, Target Tracking of Autonomous Robotic Vehicles using Range-only Measurements: A Switched Logic-Based Control Strategy, International Journal of Robust and Nonlinear Control, Vol. 22, Issue 17, pp. 1983-1998, 2012
[13] Francisco Curado, António Pedro Aguiar, António Pascoal, Nonlinear adaptive control of an underwater towed vehicle, Ocean Engineering, Vol. 37, No. 13, pp. 1193-1220, 2010
[14] J. P. Hespanha, Robust Filtering for Deterministic Systems with Implicit Outputs, Systems & Control Letters, Vol. 58, Issue 4, pp. 263-270 , 2009 - PDF
[15] I. Kaminer, Coordinated path-following in the presence of communication losses and time delays, SIAM - Journal on Control and Optimization, Vol. 48, No. 1, pp. 234-265, 2009 - PDF
[16] P. Kokotovic, Performance Limitations in Reference-Tracking and Path Following for Nonlinear Systems, IFAC Automatica, Vol. 44, Issue 3, pp. 598-610, 2008
[17] J. P. Hespanha, Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles with Parametric Modeling Uncertainty, IEEE Transactions on Automatic Control, Vol. 52, No. 8, pp. 1362-1379, 2007 - PDF
[18] J. P. Hespanha, Switched seesaw control for the stabilization of underactuated vehicles, IFAC Automatica, Vol. 43, No. 12, pp. 1997-2008, 2007 - PDF
[19] António Pedro Aguiar, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, International Journal of Control, Vol. 80, No. 7, pp. 1092-1108, 2007 - PDF
[20] António Pedro Aguiar, Joao P. Hespanha, Minimum-Energy State Estimation for Systems with Perspective Outputs, IEEE Transactions on Automatic Control, Vol. 51, No. 2, pp. 226-241, 2006 - PDF
[21] António Pedro Aguiar, J. Hespanha, P. Kokotovic, Path-Following for Non-Minimum Phase Systems Removes Performance Limitations, IEEE Transactions on Automatic Control, Vol. 50, No. 2, pp. 234-239, 2005 - PDF

Book Chapters

[22] António Pedro Aguiar, F. Bayer, J. Hauser, Andreas Häusler, G. Notarstefano, António Pascoal, A. Rucco, Alessandro Saccon, Constrained Optimal Motion Planning for Autonomous Vehicles Using PRONTO, in Sensing and Control for Autonomous Vehicles, Lecture Notes in Control and Information Sciences Book Series, Springer-Cham, Vol. 474, Thor Fossen, K. Pettersen, and H. Nijmeijer (Eds.), pp. 207-226, 2017​. ISBN:978-3-319-55371-9, 2017
[23] António Pedro Aguiar, António Pascoal, Cooperative Control of Multiple Autonomous Marine Vehicles: Theoretical Foundations and Practical Issues, Further Advances in Unmanned Marine Vehicles, Editors Geoff Roberts and Robert Sutton, IET, pp. 255-282, 2012
[24] V. Kokotovic, Zero Dynamics and Tracking Performance Limits in Nonlinear Feedback Systems, In Analysis and Design of Nonlinear Control Systems, Astolfi, Alessandro, Marconi, Lorenzo (Eds.), Springer Verlag, Berlin, 2008

Conference Papers

[25] Francisco Rego, António Pedro Aguiar, António Pascoal, C. N. Jones, A Design Method for Distributed Luenberger Observers, Proc. of CDC'17 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, 2017
[26] Jorge Soares, A. Marjovi, J. Giezendanner, A. Kodiyan, António Pedro Aguiar, António Pascoal, A. Martinoli, Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking, Proc. of IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, 2016
[27] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, An Algorithm for Formation-Based Chemical Plume Tracing using Robotic Marine Vehicles, Proc. of MTS/IEEE OCEANS, Monterey, California, USA, 2016
[28] Francisco Rego, Y. Pu, Andrea Alessandretti, António Pedro Aguiar, António Pascoal, C. N. Jones, Design of a Distributed Quantized Luenberger Filter for Bounded Noise, Proc. of ACC 2016 - American Control Conference, Boston, MA, USA, 2016
[29] Alessandro Saccon, António Pascoal, António Pedro Aguiar, Andreas Häusler, J. Hauser, A Novel Four-Quadrant Propeller Model, Proc. of SMP´15 - Fourth International Symposium on Marine Propulsors, Austin, Texas, USA, pp. 498-505, 2015
[30] Andrea Alessandretti, António Pedro Aguiar, Francisco Rego, C. N. Jones, Ye Pu, A consensus algorithm for networks with process noise and quantization error, Proc. of 53rd Annual Allerton Conference on Communication, Control, and Computing, Monticello, IL, USA, pp. 488-495, 2015
[31] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation, Proc. of ICRA 2015 - IEEE-RAS International Conference on Robotics and Automation, Seattle, CA, USA, 2015
[32] M. Marques, P. Dias, N. P. Santos, V. Lobo, R. Batista, D. Salgueiro, António Pedro Aguiar, M. Costa, J. E. Silva, A. Ferreira, J. Sousa, M. Nunes, E. Pereira, J. Morgado, Ricardo Ribeiro, Jorge S. Marques, Alexandre Bernardino, M. Griné, Matteo Taiana, Unmanned Aircraft Systems in maritime operations: Challenges addressed in the scope of the SEAGULL project, Proc. of OCEANS'15 MTS/IEEE Genova, Italy, 2015
[33] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, A Graph-Based Formation Algorithm for Odor Plume Tracing, Proc. of DARS 2014 - 12th International Symposium on Distributed Autonomous Robotic Systems, Daejeon, South Korea, 2014
[34] Francisco Rego, Jorge Soares, António Pascoal, António Pedro Aguiar, C. Jones, Flexible triangular formation keeping of marine robotic vehicles using range measurements, Proc. of the 19th IFAC World Congress, Cape Town, South Africa, 2014
[35] Andreas Häusler, Alessandro Saccon, J. Hauser, António Pascoal, António Pedro Aguiar, Optimal Multiple Vehicle Motion Planning, Proc. of EPCO 2014 - Portuguese Meeting on Optimal Control, Aveiro, Portugal, 2014
[36] Lara Briñón, António Pascoal, António Pedro Aguiar, Adaptive Leader-Follower Formation Control of Autonomous Marine Vehicles, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014
[37] Naveena Crasta, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, Observability Analysis of 3D AUV Trimming Trajectories in the Presence of Ocean Currents using Single Beacon Navigation, Proc. 19th IFAC World Congress, Cape Town, South Africa, 2014
[38] António Pascoal, António Pedro Aguiar, Sérgio Pequito, Francisco Rego, S. Kar, K. Jones, Optimal design of observable multi-agent networks: A structural system approach, Prc. of ECC'14 - European Control Conference, Strasbourg, France, pp. 1536-1541, 2014
[39] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, Design and Implementation of a Range-Based Formation Controller for Marine Robots, Proc. of ROBOT 2013 - 1st Iberian Robotics Conference, Madrid, Spain, 2013
[40] António Pascoal, Multiple Model Adaptive Estimation for Open Loop Unstable Plants, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[41] Andreas Häusler, Alessandro Saccon, António Pedro Aguiar, J. Hauser, António Pascoal, Cooperative AUV Motion Planning using Terrain Information, Proc. of OCEANS 2013 MTS/IEEE Conference, Bergen, Norway, 2013 - PDF
[42] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results, Proc. of ICRA 2013 - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013 - PDF
[43] Sérgio Pequito, S. Kar, António Pedro Aguiar, A Structured Systems Approach for Optimal Actuator-Sensor Placement in Linear Time-Invariant Systems, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF
[44] S. Rodrigues, António Pedro Aguiar, A new algorithm for linearization up to multi-output injection for a class of systems with implicitly defined outputs, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[45] Mohammadreza Bayat, António Pedro Aguiar, AUV Range-only Localization and Mapping: Observer Design and Experimental Results, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[46] T. Oliveira, P. Encarnacao, António Pedro Aguiar, Moving Path Following for Autonomous Robotic Vehicles, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[47] Andrea Alessandretti, António Pedro Aguiar, C. N. Jones, Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[48] F. Casal, António Pedro Aguiar, J. M. Lemos, Multiple-Model Adaptive State Estimation of the HIV-1 Infection using a Moving Horizon Approach, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[49] Sérgio Pequito, S. Kar, Optimal Cost Actuator/Sensor Placement for Large Scale Linear Time-Invariant Systems: A Structured Systems Approach, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[50] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Covariant Differentiation of a Map in the Context of Geometric Optimal Control, Proc. of NOLCOS 2013 - 9th IFAC Symposium on Nonlinear Control Systems, Toulouse, France, 2013 - PDF
[51] Sérgio Pequito, S. Kruzick, S. Kar, J. M. Moura, António Pedro Aguiar, Optimal Design of Distributed Sensor Networks for Field Reconstruction, Proc. of EUSIPCO 2013 - 21st European Signal Processing Conference, Marrakech, Maroc, 2013 - PDF
[52] Andreas Häusler, Alessandro Saccon, J. Hauser, António Pascoal, António Pedro Aguiar, Four-Quadrant Propeller Modeling: A Low-Order Harmonic Approximation, Proc. CAMS 2013 - 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 2013 - PDF
[53] António Pascoal, António Pedro Aguiar, F. Rego, A Packet Loss Compliant Logic-Based Communication Algorithm for Cooperative Path-Following Control, Proc. CAMS 2013 - 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 2013 - PDF
[54] Naveena Crasta, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, Observability analysis of 2D single beacon navigation in the presence of constant currents for two classes of maneuvers, Proc. CAMS 2013 - 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 2013 - PDF
[55] V. Cichella, I. Kaminer, E. Xargay, V. Dobrokhodov, N. Hovakimyan, A Lyapunov-based approach for time-coordinated 3d path-following of multiple quadrotors, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 17761781, 2012
[56] Vahid Hassani, A. Sorensen, António Pascoal, António Pedro Aguiar, Developing a Linear Model for Wave Filtering and Dynamic Positioning, Proc. of CONTROLO 2012 - 10th Portuguese Conference on Automatic Control, Madeira, Portugal, 2012
[57] Vahid Hassani, A. Sorensen, António Pascoal, António Pedro Aguiar, Multiple Model Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels, Proc. of the ACC 2012 - American Control Conference, Montreal, Canada, 2012
[58] Jorge Soares, António Pedro Aguiar, António Pascoal, M. Gallieri, Triangular formation control using range measurements: An application to marine robotic vehicles, Proc. of NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, 2012
[59] Alessandro Saccon, António Pedro Aguiar, Andreas Häusler, J. Hauser, António Pascoal, Constrained Motion Planning for Multiple Vehicles on SE(3), Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[60] A. Marino, G. Antonelli, António Pedro Aguiar, António Pascoal, A new approach to multi-robot harbour patrolling: theory and experiments, Proc. of IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012
[61] I. Kaminer, E. Xargay, V. Cichella, N. Hovakimyan, António Pascoal, António Pedro Aguiar, V. Dobrokhodov, Reza Ghabcheloo, Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies, Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control, Haifa, Israel, 2012
[62] Mohammadreza Bayat, António Pedro Aguiar, Observability Analysis for AUV Range-only Localization and Mapping: Measures of Unobservability and Experimental Results, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[63] Andreas Häusler, Alessandro Saccon, António Pedro Aguiar, J. Hauser, António Pascoal, Cooperative Motion Planning for Multiple Autonomous Marine Vehicles, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[64] T.Glotzbach, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, An underwater acoustic localisation system for Assisted Human Diving Operations, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[65] Mohammadreza Bayat, António Pedro Aguiar, Observability Analysis of the Simultaneous Underwater Vehicle Localization and Mapping Based on Ranging Measurements, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[66] Vahid Hassani, A. Sorensen, António Pascoal, António Pedro Aguiar, A Linear Design Model for Wave Filtering and Dynamic Positioning, Proc. of Controlo 2012 - 10th Portuguese Conference on Automatic Control, Madeira, Portugal, 2012
[67] A. Alessandretti, António Pedro Aguiar, J. P. Hespanha, P. Valigi, A Minimum Energy Solution to Monocular Simultaneous Localization and Mapping, Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011
[68] A. Adhami-Mirhosseini, António Pedro Aguiar, M. J. Yazdanpanah, Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation, Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011
[69] Sérgio Pequito, António Pedro Aguiar, B. Sinopoli, D. A. Gomes, Nonlinear Estimation using Mean Field Games, Proc. of NetGCooP 2011 International Conference on Network Games, Control and Optimization, Paris, France, 2011
[70] Sérgio Pequito, António Pedro Aguiar, B. Sinopoli, D. A. Gomes, Unsupervised Learning of Finite Mixture Models using Mean Field Games, Proc. of ALLERTON 2011 - 49th Annual Allerton Conference on Communication, Control, and Computing, University of Illinois, Urbana-Champaign, USA, 2011
[71] F. Arrichiello, G. Antonelli, António Pedro Aguiar, António Pascoal, Observability metric for the relative localization of AUVs based on range and depthmeasurements: theory and experiments, Proc. of IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011
[72] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Optimal Control on Lie Groups: Implementations Details of the Projection Operator Approach, Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[73] António Pedro Aguiar, J. Hauser, Lie Group Projection Operator Approach: Optimal Control on TSO(3), Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011
[74] O. Namaki-Shoushtari, António Pedro Aguiar, A. K. Sedigh, A Switched Based Control Strategy for Target Tracking of Autonomous Robotic Vehicles using Range-only Measurements, Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[75] Reza Ghabcheloo, Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints, Proc. of IAV 2010 - 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010
[76] Vahid Hassani, O. Namaki-Shoushtari, António Pedro Aguiar, António Pascoal, Robust Interval Observers for Uncertain Continuous-time Systems, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
[77] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Exploration of Kinematic Optimal Control on the Lie Group SO(3), Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010
[78] Naveena Crasta, S. S. Rodrigues, F. S. Leite, State estimation for systems on SE(3) with implicit outputs: An application to visual servoing, Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010
[79] R. F. Barreiro, António Pedro Aguiar, J. M. Lemos, Moving Horizon Estimation with Decimated Observations, Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010
[80] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Optimal Control on Non-Compact Lie Groups: A Projection Operator Approach, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010
[81] Alessandro Saccon, J. Hauser, António Pedro Aguiar, On the closed-form solution of an optimal control problem on the Lie Group SO(3), Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
[82] R. F. Barreiro, António Pedro Aguiar, J. M. Lemos, State Estimation of the HIV-1 Infection using a Moving Horizon Based Estimator, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
[83] V. Dobrokhodov, I. Kaminer, K. Jones, E. Xargay, Z. Li, N. Hovakimyan, António Pedro Aguiar, António Pascoal, On Coordinated Road Search using Time-Coordinated Path Following of Multiple UAVs, Proc. of GNC 2010 - AIAA Guidance, Navigation and Control Conference, Toronto, Canada, 2010
[84] Vahid Hassani, António Pascoal, António Pedro Aguiar, Michael Athans, A Multiple Model Adaptive Wave Filter for Dynamic Ship Positioning, Proc. of CAMS 2010 - 8th IFAC Conference on Control Applications in Marine Systems, Rostock, Germany, 2010
[85] S. Carvalhosa, António Pedro Aguiar, António Pascoal, Cooperative Motion Control of Multiple Autonomous Marine Vehicles:Collision Avoidance in Dynamic Environments, Proc. of IAV 2010 - 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010
[86] Mohammadreza Bayat, António Pedro Aguiar, SLAM for an AUV using vision and an acoustic beacon, Proc. of IAV 2010 - 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010
[87] Sérgio Pequito, António Pedro Aguiar, D. Gomes, The Entropy Penalized Minimum Energy Estimator, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009
[88] Vahid Hassani, António Pedro Aguiar, António Pascoal, Michael Athans, Further Results on Plant Parameter Identification using Continuous-Time Multiple-Model Adaptive Estimators, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009
[89] E. Xargay, Time-Coordinated Path Following for Multiple UAVs over Time-Varying Networks using L1 Adaptation, Proc. of NATO RTO SCI-202 Symposium on Intelligent Uninhabited Vehicle Guidance Systems, Neubiberg, Germany, 2009
[90] J. Saude, Single Beacon Acoustic Navigation for an AUV in the presence of unknown ocean currents, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[91] Francesco Vanni, Online Mission Planning for Cooperative Target Tracking of Marine Vehicles, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[92] Vahid Hassani, Multiple Model Adaptive Estimation and Model Identification using a Minimum Energy Criterion, Proc. of ACC 2009 American Control Conference, St. Louis, Missouri, 2009 - PDF
[93] I. Kaminer, A General Framework for Multiple Vehicle Time-Coordinated Path Following Control, Proc. of ACC 2009 American Control Conference, St. Louis, Missouri, 2009 - PDF
[94] I. Kaminer, Path Planning for Multiple Marine Vehicles, Proc. of OCEANS 2009 IEEE Bremen, Germany, 2009
[95] A. Pereira, A Cooperative Autonomous Marine Vehicle Motion Control in the scope of the EU GREX Project: Theory and Practice, Proc. of OCEANS 2009 IEEE Bremen, Germany, 2009
[96] Francisco Curado, Nonlinear adaptive depth tracking and attitude control of an underwater towed vehicle, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[97] António Pedro Aguiar, Marine Vehicle Path Following Using Inner-Outer Loop Contro, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[98] V. N. Dobrokhodov, Temporally and Spatially Deconflicted Path Planning for Multiple Autonomous Marine Vehicles, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[99] A. Pereira, Cooperative Control of Multiple Marine Vehicles: Theoretical Challenges and Practical Issues, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[100] E. Xargay, Coordinated Path Following of Multiple UAVs for Time-Critical Missions in the Presence of Time-Varying Communication Topologies, Proc. of the 17th IFAC World Congress, Seoul, Korea, 2008
[101] R. Carona, Control of Unicycle Type Robots: Tracking, Path Following and Point Stabilization, Proc. of JETC 2008 - IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, 2008 - PDF
[102] E. Xargay, Time-Coordinated Path Following for Multiple UAVs using Dynamic Networking and L1 Adaptation, Proc. of GN&C 2008 - AIAA Guidance, Navigation and Control Conference, Honolulu, HI, 2008
[103] Vahid Hassani, Identification and Convergence Analysis of a Class of Continuous-Time Multiple-Model Adaptive Estimators, Proc. of the 17th IFAC World Congress, Seoul, Korea, 2008
[104] Vahid Hassani, Nonlinear Kalman Based Filtering for Pose Estimation of a Robotic Vehicle from Discrete Asynchronous Range Measurements, Proc. of CONTROLO 2008 - 8th Portuguese Conference on Automatic Control, Vila Real, Portugal, 2008
[105] Francesco Vanni, Cooperative Path-Following of Underactuated Autonomous Marine Vehicles with Logic-based Communication, Proc. of NGCUV 2008 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, 2008
[106] António Pedro Aguiar, Coordinated Path-Following Control for Nonlinear Systems with Logic-Based Communication, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007
[107] Rita Cunha, António Pedro Aguiar, Carlos Silvestre, J. Hespanha, Vision-based control for rigid body stabilization, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007 - PDF
[108] António Pascoal, António Pedro Aguiar, Carlos Silvestre, Reza Ghabcheloo, Synchronization in multi-agent systems with switching topologies and non-homogeneous communication delays, Proc. of CDC’07 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007 - PDF
[109] Francesco Vanni, Nonlinear Motion Control of Multiple Autonomous Underwater Vehicles, Proc. of CAMS 2007 - The IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007
[110] Reza Ghabcheloo, Coordinated Path Following of Multiple Marine Vehicles: Theoretical Issues and Practical Constraints, Proc. of IWK 2007 - 52nd Internationales Wissenschaftliches Kolloquium, Ilmenau, Germany, 2007
[111] António Pedro Aguiar, Multiple-Model Adaptive Estimators: Open Problems and Future Directions, Proc. of ECC2007 - European Control Conference, Kos, Greece, 2007
[112] Michael Athans, Convergence Properties of a Continuous-Time Multiple-Model Adaptive Estimator, Proc. of ECC2007 - European Control Conference, Kos, Greece, 2007
[113] Reza Ghabcheloo, Coordinated Path-Following Control of Multiple Autonomous Underwater Vehicles, Proc. of ISOPE2007 - 17th International Offshore and Polar Engineering Conference & Exhibition, Lisbon, Portugal, 2007 - PDF
[114] Francisco Curado, António Pedro Aguiar, António Pascoal, Nonlinear Control of an Underwater Towed Vehicle, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF
[115] Reza Ghabcheloo, António Pedro Aguiar, António Pascoal, Carlos Silvestre, Coordinated Path-Following Control of Multiple AUVs in the Presence of Communication Failures and Time Delays, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF
[116] António Pedro Aguiar, J. Hespanha, H-infinity Estimation of Systems with Implicit Outputs: An Application to Pose Estimation of Autonomous Vehicles, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006 - PDF
[117] António Pedro Aguiar, J. Hespanha, State Estimation of Continuous-Time Systems with Implicit Outputs from Discrete Noisy Time-Delayed Measurements, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, CA, USA , 2006 - PDF
[118] Reza Ghabcheloo, António Pedro Aguiar, António Pascoal, Carlos Silvestre, I. Kaminer, J. Hespanha, Coordinated Path-Following Control of Multiple Underactuated Autonomous Vehicles in the Presence of Communication Failures, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, CA, USA , 2006 - PDF
[119] António Pedro Aguiar, Reza Ghabcheloo, António Pascoal, Carlos Silvestre, J. Hespanha, I. Kaminer, Coordinated Path-Following of Multiple Underactuated Autonomous Vehicles with Bidirectional Communication Constraints, Proc. ISCCSP2006 - 2nd International Symposium on Communications, Control and Signal Processing, Marrakech, Morocco, 2006 - PDF
[120] António Pedro Aguiar, J. Hespanha, António Pascoal, Stability of switched seesaw systems with application to the stabilization of underactuated vehicles, Proc. of CDC-ECC2005 44th IEEE Conference on Decision and Control and European Control Conferencel, Seville, Spain, 2005
[121] António Pedro Aguiar, J. Hespanha, State Estimation for Systems with Implicit Outputs for the Integration of Vision and Inertial Sensors, Proc. of CDC-ECC2005 44th IEEE Conference on Decision and Control and European Control Conference, Seville, Spain, 2005
[122] António Pedro Aguiar, J. Hespanha, P. Kokotovic, Limits of performance in reference tracking and path-following for nonlinear systems, Proc. of 16th IFAC World Congress, Prague, Czech Republic, 2005
[123] António Pedro Aguiar, António Pascoal, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. IEEE Conference on Decision and Control, USA, 2002

PhD Theses

[124] António Pedro Aguiar, Nonlinear Motion Control of Nonholonomic and Underactuated Systems, Ph.D. Thesis, Instituto Superior Tecnico, Lisboa, Portugal,, 2002
[1] Rômulo Rodrigues, Meysam Basiri, António Pedro Aguiar, Pedro Miraldo, Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields, IEEE Robotics and Automation Letters ( Volume: 3, Issue: 3, July 2018 ) , 2018
[2] V. Cichella, Ronald Choe, S. Bilal Mehdi, E. Xargay, N. Hovakimyan, V. Dobrokhodov, I. Kaminer, António Pascoal, António Pedro Aguiar, Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles, IEEE Control Systems Magazine, Vol. 36, No.4, pp. 59-82, August, 2016
[3] Andreas Häusler, Alessandro Saccon, António Pedro Aguiar, J. Hauser, António Pascoal, Energy-optimal motion planning for multiple robotic vehicles with collision avoidance, IEEE Transactions on Control Systems Technology, Vol. 24, No. 3, pp. 867-883, May, 2016
[4] Mohammadreza Bayat, Naveena Crasta, António Pedro Aguiar, António Pascoal, Range-Based Underwater Vehicle Localization in the Presence of Unknown Ocean Currents: Theory and Experiments, IEEE Transactions on Control Systems Technology, Vol. 24, No. 1, January, 2016 - PDF
[5] Naveena Crasta, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, Observability analysis of 3D AUV trimming trajectories in the presence of ocean currents using range and depth measurements, Elsevier, Annual Reviews in Control, Vol. 40, pp. 142–156, October, 2015 - PDF
[6] V. Cichella, I. Kaminer, V. Dobrokhodov, E. Xargay, Ronald Choe, N. Hovakimyan, António Pedro Aguiar, António Pascoal, Cooperative path-following of multiple multirotors over time-varying networks, IEEE Transactions on Automation Science and Engineering, Vol. 12, No. 3, pp. 945-957, July, 2015
[7] A. Marino, G. Antonelli, António Pedro Aguiar, António Pascoal, S. Chiaverini, A Decentralized Strategy for Multirobot Sampling/Patrolling: Theory and Experiments, IEEE Transactions on Control Systems Technology, Vol. 23, Issue 1, pp. 313-322, January, 2015
[8] Mohammadreza Bayat, António Pedro Aguiar, Underwater Localization and Mapping: Observability Analysis and Experimental Results, Industrial Robot: An International Journal, vol. 41, issue 2, pp. 213-224, 2014 - PDF
[9] F. Arrichiello, G. Antonelli, António Pedro Aguiar, António Pascoal, An Observability Metric for Underwater Vehicle Localization Using Range Measurements, Sensors, 13(12), pp. 16191-16215, November, 2013 - PDF
[10] E. Xargay, I. Kaminer, António Pascoal, N. Hovakimyan, V. Dobrokhodov, V. Cichella, António Pedro Aguiar, Reza Ghabcheloo, Time-Critical Cooperative Path Following of Multiple UAVs over Time-Varying Networks, AIAA Journal of Guidance, Control, and Dynamics, Vol. 36, No. 2, pp. 499-516, , 2013 - PDF
[11] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Optimal Control on Lie Groups: The Projection Operator Approach, IEEE Transactions on Automatic Control, Vol. 58, No. 9, pp. 2230-2245, September, 2013 - PDF
[12] O. Namaki-Shoustari, António Pedro Aguiar, A. K. Sedigh, Target Tracking of Autonomous Robotic Vehicles using Range-only Measurements: A Switched Logic-Based Control Strategy, International Journal of Robust and Nonlinear Control, Vol. 22, Issue 17, pp. 1983-1998, 2012
[13] Francisco Curado, António Pedro Aguiar, António Pascoal, Nonlinear adaptive control of an underwater towed vehicle, Ocean Engineering, Vol. 37, No. 13, pp. 1193-1220, 2010
[14] J. P. Hespanha, Robust Filtering for Deterministic Systems with Implicit Outputs, Systems & Control Letters, Vol. 58, Issue 4, pp. 263-270 , 2009 - PDF
[15] I. Kaminer, Coordinated path-following in the presence of communication losses and time delays, SIAM - Journal on Control and Optimization, Vol. 48, No. 1, pp. 234-265, 2009 - PDF
[16] P. Kokotovic, Performance Limitations in Reference-Tracking and Path Following for Nonlinear Systems, IFAC Automatica, Vol. 44, Issue 3, pp. 598-610, 2008
[17] J. P. Hespanha, Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles with Parametric Modeling Uncertainty, IEEE Transactions on Automatic Control, Vol. 52, No. 8, pp. 1362-1379, 2007 - PDF
[18] J. P. Hespanha, Switched seesaw control for the stabilization of underactuated vehicles, IFAC Automatica, Vol. 43, No. 12, pp. 1997-2008, 2007 - PDF
[19] António Pedro Aguiar, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, International Journal of Control, Vol. 80, No. 7, pp. 1092-1108, 2007 - PDF
[20] António Pedro Aguiar, Joao P. Hespanha, Minimum-Energy State Estimation for Systems with Perspective Outputs, IEEE Transactions on Automatic Control, Vol. 51, No. 2, pp. 226-241, 2006 - PDF
[21] António Pedro Aguiar, J. Hespanha, P. Kokotovic, Path-Following for Non-Minimum Phase Systems Removes Performance Limitations, IEEE Transactions on Automatic Control, Vol. 50, No. 2, pp. 234-239, 2005 - PDF
[1] António Pedro Aguiar, F. Bayer, J. Hauser, Andreas Häusler, G. Notarstefano, António Pascoal, A. Rucco, Alessandro Saccon, Constrained Optimal Motion Planning for Autonomous Vehicles Using PRONTO, in Sensing and Control for Autonomous Vehicles, Lecture Notes in Control and Information Sciences Book Series, Springer-Cham, Vol. 474, Thor Fossen, K. Pettersen, and H. Nijmeijer (Eds.), pp. 207-226, 2017​. ISBN:978-3-319-55371-9, 2017
[2] António Pedro Aguiar, António Pascoal, Cooperative Control of Multiple Autonomous Marine Vehicles: Theoretical Foundations and Practical Issues, Further Advances in Unmanned Marine Vehicles, Editors Geoff Roberts and Robert Sutton, IET, pp. 255-282, 2012
[3] V. Kokotovic, Zero Dynamics and Tracking Performance Limits in Nonlinear Feedback Systems, In Analysis and Design of Nonlinear Control Systems, Astolfi, Alessandro, Marconi, Lorenzo (Eds.), Springer Verlag, Berlin, 2008
[1] Francisco Rego, António Pedro Aguiar, António Pascoal, C. N. Jones, A Design Method for Distributed Luenberger Observers, Proc. of CDC'17 - 56th IEEE Conference on Decision and Control, Melbourne, Australia, 2017
[2] Jorge Soares, A. Marjovi, J. Giezendanner, A. Kodiyan, António Pedro Aguiar, António Pascoal, A. Martinoli, Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking, Proc. of IROS 2016 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, 2016
[3] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, An Algorithm for Formation-Based Chemical Plume Tracing using Robotic Marine Vehicles, Proc. of MTS/IEEE OCEANS, Monterey, California, USA, 2016
[4] Francisco Rego, Y. Pu, Andrea Alessandretti, António Pedro Aguiar, António Pascoal, C. N. Jones, Design of a Distributed Quantized Luenberger Filter for Bounded Noise, Proc. of ACC 2016 - American Control Conference, Boston, MA, USA, 2016
[5] Alessandro Saccon, António Pascoal, António Pedro Aguiar, Andreas Häusler, J. Hauser, A Novel Four-Quadrant Propeller Model, Proc. of SMP´15 - Fourth International Symposium on Marine Propulsors, Austin, Texas, USA, pp. 498-505, 2015
[6] Andrea Alessandretti, António Pedro Aguiar, Francisco Rego, C. N. Jones, Ye Pu, A consensus algorithm for networks with process noise and quantization error, Proc. of 53rd Annual Allerton Conference on Communication, Control, and Computing, Monticello, IL, USA, pp. 488-495, 2015
[7] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation, Proc. of ICRA 2015 - IEEE-RAS International Conference on Robotics and Automation, Seattle, CA, USA, 2015
[8] M. Marques, P. Dias, N. P. Santos, V. Lobo, R. Batista, D. Salgueiro, António Pedro Aguiar, M. Costa, J. E. Silva, A. Ferreira, J. Sousa, M. Nunes, E. Pereira, J. Morgado, Ricardo Ribeiro, Jorge S. Marques, Alexandre Bernardino, M. Griné, Matteo Taiana, Unmanned Aircraft Systems in maritime operations: Challenges addressed in the scope of the SEAGULL project, Proc. of OCEANS'15 MTS/IEEE Genova, Italy, 2015
[9] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, A Graph-Based Formation Algorithm for Odor Plume Tracing, Proc. of DARS 2014 - 12th International Symposium on Distributed Autonomous Robotic Systems, Daejeon, South Korea, 2014
[10] Francisco Rego, Jorge Soares, António Pascoal, António Pedro Aguiar, C. Jones, Flexible triangular formation keeping of marine robotic vehicles using range measurements, Proc. of the 19th IFAC World Congress, Cape Town, South Africa, 2014
[11] Andreas Häusler, Alessandro Saccon, J. Hauser, António Pascoal, António Pedro Aguiar, Optimal Multiple Vehicle Motion Planning, Proc. of EPCO 2014 - Portuguese Meeting on Optimal Control, Aveiro, Portugal, 2014
[12] Lara Briñón, António Pascoal, António Pedro Aguiar, Adaptive Leader-Follower Formation Control of Autonomous Marine Vehicles, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014
[13] Naveena Crasta, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, Observability Analysis of 3D AUV Trimming Trajectories in the Presence of Ocean Currents using Single Beacon Navigation, Proc. 19th IFAC World Congress, Cape Town, South Africa, 2014
[14] António Pascoal, António Pedro Aguiar, Sérgio Pequito, Francisco Rego, S. Kar, K. Jones, Optimal design of observable multi-agent networks: A structural system approach, Prc. of ECC'14 - European Control Conference, Strasbourg, France, pp. 1536-1541, 2014
[15] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, Design and Implementation of a Range-Based Formation Controller for Marine Robots, Proc. of ROBOT 2013 - 1st Iberian Robotics Conference, Madrid, Spain, 2013
[16] António Pascoal, Multiple Model Adaptive Estimation for Open Loop Unstable Plants, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[17] Andreas Häusler, Alessandro Saccon, António Pedro Aguiar, J. Hauser, António Pascoal, Cooperative AUV Motion Planning using Terrain Information, Proc. of OCEANS 2013 MTS/IEEE Conference, Bergen, Norway, 2013 - PDF
[18] Jorge Soares, António Pedro Aguiar, António Pascoal, A. Martinoli, Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results, Proc. of ICRA 2013 - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013 - PDF
[19] Sérgio Pequito, S. Kar, António Pedro Aguiar, A Structured Systems Approach for Optimal Actuator-Sensor Placement in Linear Time-Invariant Systems, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF
[20] S. Rodrigues, António Pedro Aguiar, A new algorithm for linearization up to multi-output injection for a class of systems with implicitly defined outputs, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[21] Mohammadreza Bayat, António Pedro Aguiar, AUV Range-only Localization and Mapping: Observer Design and Experimental Results, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[22] T. Oliveira, P. Encarnacao, António Pedro Aguiar, Moving Path Following for Autonomous Robotic Vehicles, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[23] Andrea Alessandretti, António Pedro Aguiar, C. N. Jones, Trajectory-tracking and Path-following Controllers for Constrained Underactuated Vehicles using Model Predictive Control, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[24] F. Casal, António Pedro Aguiar, J. M. Lemos, Multiple-Model Adaptive State Estimation of the HIV-1 Infection using a Moving Horizon Approach, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[25] Sérgio Pequito, S. Kar, Optimal Cost Actuator/Sensor Placement for Large Scale Linear Time-Invariant Systems: A Structured Systems Approach, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[26] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Covariant Differentiation of a Map in the Context of Geometric Optimal Control, Proc. of NOLCOS 2013 - 9th IFAC Symposium on Nonlinear Control Systems, Toulouse, France, 2013 - PDF
[27] Sérgio Pequito, S. Kruzick, S. Kar, J. M. Moura, António Pedro Aguiar, Optimal Design of Distributed Sensor Networks for Field Reconstruction, Proc. of EUSIPCO 2013 - 21st European Signal Processing Conference, Marrakech, Maroc, 2013 - PDF
[28] Andreas Häusler, Alessandro Saccon, J. Hauser, António Pascoal, António Pedro Aguiar, Four-Quadrant Propeller Modeling: A Low-Order Harmonic Approximation, Proc. CAMS 2013 - 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 2013 - PDF
[29] António Pascoal, António Pedro Aguiar, F. Rego, A Packet Loss Compliant Logic-Based Communication Algorithm for Cooperative Path-Following Control, Proc. CAMS 2013 - 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 2013 - PDF
[30] Naveena Crasta, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, Observability analysis of 2D single beacon navigation in the presence of constant currents for two classes of maneuvers, Proc. CAMS 2013 - 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 2013 - PDF
[31] V. Cichella, I. Kaminer, E. Xargay, V. Dobrokhodov, N. Hovakimyan, A Lyapunov-based approach for time-coordinated 3d path-following of multiple quadrotors, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 17761781, 2012
[32] Vahid Hassani, A. Sorensen, António Pascoal, António Pedro Aguiar, Developing a Linear Model for Wave Filtering and Dynamic Positioning, Proc. of CONTROLO 2012 - 10th Portuguese Conference on Automatic Control, Madeira, Portugal, 2012
[33] Vahid Hassani, A. Sorensen, António Pascoal, António Pedro Aguiar, Multiple Model Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels, Proc. of the ACC 2012 - American Control Conference, Montreal, Canada, 2012
[34] Jorge Soares, António Pedro Aguiar, António Pascoal, M. Gallieri, Triangular formation control using range measurements: An application to marine robotic vehicles, Proc. of NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, 2012
[35] Alessandro Saccon, António Pedro Aguiar, Andreas Häusler, J. Hauser, António Pascoal, Constrained Motion Planning for Multiple Vehicles on SE(3), Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[36] A. Marino, G. Antonelli, António Pedro Aguiar, António Pascoal, A new approach to multi-robot harbour patrolling: theory and experiments, Proc. of IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012
[37] I. Kaminer, E. Xargay, V. Cichella, N. Hovakimyan, António Pascoal, António Pedro Aguiar, V. Dobrokhodov, Reza Ghabcheloo, Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies, Itzhack Y. Bar-Itzhack Memorial Symposium on Estimation, Navigation, and Spacecraft Control, Haifa, Israel, 2012
[38] Mohammadreza Bayat, António Pedro Aguiar, Observability Analysis for AUV Range-only Localization and Mapping: Measures of Unobservability and Experimental Results, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[39] Andreas Häusler, Alessandro Saccon, António Pedro Aguiar, J. Hauser, António Pascoal, Cooperative Motion Planning for Multiple Autonomous Marine Vehicles, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[40] T.Glotzbach, Mohammadreza Bayat, António Pedro Aguiar, António Pascoal, An underwater acoustic localisation system for Assisted Human Diving Operations, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[41] Mohammadreza Bayat, António Pedro Aguiar, Observability Analysis of the Simultaneous Underwater Vehicle Localization and Mapping Based on Ranging Measurements, Proc. of MCMC 2012 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arenzano, Italy, 2012
[42] Vahid Hassani, A. Sorensen, António Pascoal, António Pedro Aguiar, A Linear Design Model for Wave Filtering and Dynamic Positioning, Proc. of Controlo 2012 - 10th Portuguese Conference on Automatic Control, Madeira, Portugal, 2012
[43] A. Alessandretti, António Pedro Aguiar, J. P. Hespanha, P. Valigi, A Minimum Energy Solution to Monocular Simultaneous Localization and Mapping, Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011
[44] A. Adhami-Mirhosseini, António Pedro Aguiar, M. J. Yazdanpanah, Seabed Tracking of an Autonomous Underwater Vehicle with Nonlinear Output Regulation, Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011
[45] Sérgio Pequito, António Pedro Aguiar, B. Sinopoli, D. A. Gomes, Nonlinear Estimation using Mean Field Games, Proc. of NetGCooP 2011 International Conference on Network Games, Control and Optimization, Paris, France, 2011
[46] Sérgio Pequito, António Pedro Aguiar, B. Sinopoli, D. A. Gomes, Unsupervised Learning of Finite Mixture Models using Mean Field Games, Proc. of ALLERTON 2011 - 49th Annual Allerton Conference on Communication, Control, and Computing, University of Illinois, Urbana-Champaign, USA, 2011
[47] F. Arrichiello, G. Antonelli, António Pedro Aguiar, António Pascoal, Observability metric for the relative localization of AUVs based on range and depthmeasurements: theory and experiments, Proc. of IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011
[48] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Optimal Control on Lie Groups: Implementations Details of the Projection Operator Approach, Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[49] António Pedro Aguiar, J. Hauser, Lie Group Projection Operator Approach: Optimal Control on TSO(3), Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011
[50] O. Namaki-Shoushtari, António Pedro Aguiar, A. K. Sedigh, A Switched Based Control Strategy for Target Tracking of Autonomous Robotic Vehicles using Range-only Measurements, Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[51] Reza Ghabcheloo, Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints, Proc. of IAV 2010 - 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010
[52] Vahid Hassani, O. Namaki-Shoushtari, António Pedro Aguiar, António Pascoal, Robust Interval Observers for Uncertain Continuous-time Systems, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
[53] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Exploration of Kinematic Optimal Control on the Lie Group SO(3), Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010
[54] Naveena Crasta, S. S. Rodrigues, F. S. Leite, State estimation for systems on SE(3) with implicit outputs: An application to visual servoing, Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010
[55] R. F. Barreiro, António Pedro Aguiar, J. M. Lemos, Moving Horizon Estimation with Decimated Observations, Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010
[56] Alessandro Saccon, J. Hauser, António Pedro Aguiar, Optimal Control on Non-Compact Lie Groups: A Projection Operator Approach, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010
[57] Alessandro Saccon, J. Hauser, António Pedro Aguiar, On the closed-form solution of an optimal control problem on the Lie Group SO(3), Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
[58] R. F. Barreiro, António Pedro Aguiar, J. M. Lemos, State Estimation of the HIV-1 Infection using a Moving Horizon Based Estimator, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010
[59] V. Dobrokhodov, I. Kaminer, K. Jones, E. Xargay, Z. Li, N. Hovakimyan, António Pedro Aguiar, António Pascoal, On Coordinated Road Search using Time-Coordinated Path Following of Multiple UAVs, Proc. of GNC 2010 - AIAA Guidance, Navigation and Control Conference, Toronto, Canada, 2010
[60] Vahid Hassani, António Pascoal, António Pedro Aguiar, Michael Athans, A Multiple Model Adaptive Wave Filter for Dynamic Ship Positioning, Proc. of CAMS 2010 - 8th IFAC Conference on Control Applications in Marine Systems, Rostock, Germany, 2010
[61] S. Carvalhosa, António Pedro Aguiar, António Pascoal, Cooperative Motion Control of Multiple Autonomous Marine Vehicles:Collision Avoidance in Dynamic Environments, Proc. of IAV 2010 - 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010
[62] Mohammadreza Bayat, António Pedro Aguiar, SLAM for an AUV using vision and an acoustic beacon, Proc. of IAV 2010 - 7th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, Italy, 2010
[63] Sérgio Pequito, António Pedro Aguiar, D. Gomes, The Entropy Penalized Minimum Energy Estimator, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009
[64] Vahid Hassani, António Pedro Aguiar, António Pascoal, Michael Athans, Further Results on Plant Parameter Identification using Continuous-Time Multiple-Model Adaptive Estimators, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009
[65] E. Xargay, Time-Coordinated Path Following for Multiple UAVs over Time-Varying Networks using L1 Adaptation, Proc. of NATO RTO SCI-202 Symposium on Intelligent Uninhabited Vehicle Guidance Systems, Neubiberg, Germany, 2009
[66] J. Saude, Single Beacon Acoustic Navigation for an AUV in the presence of unknown ocean currents, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[67] Francesco Vanni, Online Mission Planning for Cooperative Target Tracking of Marine Vehicles, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[68] Vahid Hassani, Multiple Model Adaptive Estimation and Model Identification using a Minimum Energy Criterion, Proc. of ACC 2009 American Control Conference, St. Louis, Missouri, 2009 - PDF
[69] I. Kaminer, A General Framework for Multiple Vehicle Time-Coordinated Path Following Control, Proc. of ACC 2009 American Control Conference, St. Louis, Missouri, 2009 - PDF
[70] I. Kaminer, Path Planning for Multiple Marine Vehicles, Proc. of OCEANS 2009 IEEE Bremen, Germany, 2009
[71] A. Pereira, A Cooperative Autonomous Marine Vehicle Motion Control in the scope of the EU GREX Project: Theory and Practice, Proc. of OCEANS 2009 IEEE Bremen, Germany, 2009
[72] Francisco Curado, Nonlinear adaptive depth tracking and attitude control of an underwater towed vehicle, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[73] António Pedro Aguiar, Marine Vehicle Path Following Using Inner-Outer Loop Contro, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[74] V. N. Dobrokhodov, Temporally and Spatially Deconflicted Path Planning for Multiple Autonomous Marine Vehicles, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[75] A. Pereira, Cooperative Control of Multiple Marine Vehicles: Theoretical Challenges and Practical Issues, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[76] E. Xargay, Coordinated Path Following of Multiple UAVs for Time-Critical Missions in the Presence of Time-Varying Communication Topologies, Proc. of the 17th IFAC World Congress, Seoul, Korea, 2008
[77] R. Carona, Control of Unicycle Type Robots: Tracking, Path Following and Point Stabilization, Proc. of JETC 2008 - IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, Lisbon, Portugal, 2008 - PDF
[78] E. Xargay, Time-Coordinated Path Following for Multiple UAVs using Dynamic Networking and L1 Adaptation, Proc. of GN&C 2008 - AIAA Guidance, Navigation and Control Conference, Honolulu, HI, 2008
[79] Vahid Hassani, Identification and Convergence Analysis of a Class of Continuous-Time Multiple-Model Adaptive Estimators, Proc. of the 17th IFAC World Congress, Seoul, Korea, 2008
[80] Vahid Hassani, Nonlinear Kalman Based Filtering for Pose Estimation of a Robotic Vehicle from Discrete Asynchronous Range Measurements, Proc. of CONTROLO 2008 - 8th Portuguese Conference on Automatic Control, Vila Real, Portugal, 2008
[81] Francesco Vanni, Cooperative Path-Following of Underactuated Autonomous Marine Vehicles with Logic-based Communication, Proc. of NGCUV 2008 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, 2008
[82] António Pedro Aguiar, Coordinated Path-Following Control for Nonlinear Systems with Logic-Based Communication, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007
[83] Rita Cunha, António Pedro Aguiar, Carlos Silvestre, J. Hespanha, Vision-based control for rigid body stabilization, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007 - PDF
[84] António Pascoal, António Pedro Aguiar, Carlos Silvestre, Reza Ghabcheloo, Synchronization in multi-agent systems with switching topologies and non-homogeneous communication delays, Proc. of CDC’07 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007 - PDF
[85] Francesco Vanni, Nonlinear Motion Control of Multiple Autonomous Underwater Vehicles, Proc. of CAMS 2007 - The IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007
[86] Reza Ghabcheloo, Coordinated Path Following of Multiple Marine Vehicles: Theoretical Issues and Practical Constraints, Proc. of IWK 2007 - 52nd Internationales Wissenschaftliches Kolloquium, Ilmenau, Germany, 2007
[87] António Pedro Aguiar, Multiple-Model Adaptive Estimators: Open Problems and Future Directions, Proc. of ECC2007 - European Control Conference, Kos, Greece, 2007
[88] Michael Athans, Convergence Properties of a Continuous-Time Multiple-Model Adaptive Estimator, Proc. of ECC2007 - European Control Conference, Kos, Greece, 2007
[89] Reza Ghabcheloo, Coordinated Path-Following Control of Multiple Autonomous Underwater Vehicles, Proc. of ISOPE2007 - 17th International Offshore and Polar Engineering Conference & Exhibition, Lisbon, Portugal, 2007 - PDF
[90] Francisco Curado, António Pedro Aguiar, António Pascoal, Nonlinear Control of an Underwater Towed Vehicle, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF
[91] Reza Ghabcheloo, António Pedro Aguiar, António Pascoal, Carlos Silvestre, Coordinated Path-Following Control of Multiple AUVs in the Presence of Communication Failures and Time Delays, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF
[92] António Pedro Aguiar, J. Hespanha, H-infinity Estimation of Systems with Implicit Outputs: An Application to Pose Estimation of Autonomous Vehicles, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006 - PDF
[93] António Pedro Aguiar, J. Hespanha, State Estimation of Continuous-Time Systems with Implicit Outputs from Discrete Noisy Time-Delayed Measurements, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, CA, USA , 2006 - PDF
[94] Reza Ghabcheloo, António Pedro Aguiar, António Pascoal, Carlos Silvestre, I. Kaminer, J. Hespanha, Coordinated Path-Following Control of Multiple Underactuated Autonomous Vehicles in the Presence of Communication Failures, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, CA, USA , 2006 - PDF
[95] António Pedro Aguiar, Reza Ghabcheloo, António Pascoal, Carlos Silvestre, J. Hespanha, I. Kaminer, Coordinated Path-Following of Multiple Underactuated Autonomous Vehicles with Bidirectional Communication Constraints, Proc. ISCCSP2006 - 2nd International Symposium on Communications, Control and Signal Processing, Marrakech, Morocco, 2006 - PDF
[96] António Pedro Aguiar, J. Hespanha, António Pascoal, Stability of switched seesaw systems with application to the stabilization of underactuated vehicles, Proc. of CDC-ECC2005 44th IEEE Conference on Decision and Control and European Control Conferencel, Seville, Spain, 2005
[97] António Pedro Aguiar, J. Hespanha, State Estimation for Systems with Implicit Outputs for the Integration of Vision and Inertial Sensors, Proc. of CDC-ECC2005 44th IEEE Conference on Decision and Control and European Control Conference, Seville, Spain, 2005
[98] António Pedro Aguiar, J. Hespanha, P. Kokotovic, Limits of performance in reference tracking and path-following for nonlinear systems, Proc. of 16th IFAC World Congress, Prague, Czech Republic, 2005
[99] António Pedro Aguiar, António Pascoal, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. IEEE Conference on Decision and Control, USA, 2002
[1] António Pedro Aguiar, Nonlinear Motion Control of Nonholonomic and Underactuated Systems, Ph.D. Thesis, Instituto Superior Tecnico, Lisboa, Portugal,, 2002

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