Paulo Oliveira

Collaborators

Position: Associate Professor (IST)

Dynamical Systems and Ocean Robotics Lab (DSOR)

tp.aobsilu.ocincet.rsi@orcjp

Phone :+351-218418053

Office: 8.1

Personal Page

Closed Projects

Acronym Name Funding Dates
CARAVELA Development of a Long Range Autonomous Oceanographic Vessel 1998|2003
INFANTE Development of Vehicles and Advanced Systems for the Execution of Underwater Inspection Tasks FCT 1997|2001
ASIMOV Advanced System Integration for Managing the Coordinated Operation of Robotic Ocean Vehicles EU-FP4 1998|2001
MONAZ Monterey-Azores: Cooperative Approaches to Underwater Filed Objective Detection and Mapping ONR (US) 1998|2001
VENUS Virtual ExploratioN of Underwater Sites EU-FP6 2006-07|2009-06
GREX Coordination and Control of Cooperating Heterogeneous Unmanned Systems in Uncertain Environments EU-FP6 2006-06|2009-06
RUMOS Robotic Underwater Vehicles and Marine Animals Tracking Systems FCT 2005-01|2008-01
SADOGEOROB Coastline variations, neotectonics and evolution of the Sado submarine delta during the Quaternary: an integrated geological and marine robotics approach FCT 2005|2008
Absolut Sensor Aided Inertial Navigation Systems Internal 2004|2006
AMMAIA A concerted action of archaeology, natural sciences and applied technologies to place a Roman town in context FCT 2011-01|2013-12
MAST/AM Advanced Tracking and Telemetry Methodologies to Study Marine Animals FCT 2011-01|2013-12
SCARVE Sensor-based Control of Aerial Robotic Vehicles FCT 2010-04|2013-03
URBISNET Urban Environmental Networked Sensing using a Public Transportation Infrastructure FCT 2010-03|2013-02
MORPH Marine robotic system of self-organizing, logically linked physical nodes EU-FP7 2012-02|2016-01

Journal Papers

[1] A Globally Exponentially Stable Filter for Bearing-Only Simultaneous Localization and Mapping with Monocular Vision, Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Robotics and Autonomous Systems, 2018 (in press)., 2017

[2] Hovercraft control with dynamic parameters identification, David Cabecinhas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, IEEE Transactions on Control Systems Technology, 2017 (in press)., 2017 - PDF

[3] Uncertainty Characterization of the Orthogonal Procrustes Problem with Arbitrary Covariance Matrices, Pedro Lourenço, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Pattern Recognition, 61, pp. 210-220, January, 2017

[4] Design and Experimental Validation of a USBL Underwater Acoustic Positioning System, Joel Reis, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Sensors, Vol. 16, No. 9, September , 2016

[5] Simultaneous Localization and Mapping for Aerial Vehicles: a 3-D sensor-based GAS filter, Pedro Lourenço, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Autonomous Robots, Vol. 40, Issue 5, pp. 881–902, June, 2016

[6] Tightly Coupled Long Baseline / Ultra-short Baseline Integrated Navigation System, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Systems Science, vol. 41, no. 8, pp. 1837-1855, June, 2016 - PDF

[7] Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, International Journal of Robust and Nonlinear Control, Vol. 26, Issue 5, pp. 963–994, March , 2016

[8] On the stability of the continuous-time Kalman Filter subject to exponentially decaying perturbations, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Systems & Control Letters, Elsevier, Vol. 89, pp. 41–46, March, 2016

[9] Model-based filters for 3D positioning of marine mammals using AHRS- and GPS-equipped UAVs, Tiago Gaspar, Paulo Oliveira, Carlos Silvestre, IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, Issue 4, pp. 3307 - 3320, , 2015

[10] Navigation Systems based on Multiple Bearing Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, No.4, pp. 2887-2899, October , 2015

[11] Distributed state estimation for linear multi-agent systems with time-varying measurement topology, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen, Automatica, vol. 54, pp. 72-79, April, 2015 - PDF

[12] Sensor-based globally exponentially stable range-only simultaneous localization and mapping, Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen, Robotics and Autonomous Systems, vol. 68, pp. 72-85, June , 2015

[13] Design and Validation of an RGB-D Based Localization System – Integration in a Docking System, J. Barbosa, C. Cardeira, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Journal of Intelligent & Robotic Systems, Volume 80, Issue 3, pp. 423-440, December , 2015

[14] A Two-step Control Approach for Docking of Autonomous Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Robust and Nonlinear Control, vol. 25, no. 10, pp. 1528-1547, July, 2015 - PDF

[15] Fault Detection and Isolation in Inertial Measurement Units Based on Bounding Sets, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Automatic Control, 60, No. 7, pp. 1933-1938, 2015

[16] Model-based H2 Adaptive Filter for 3D Positioning and Tracking Systems, Tiago Gaspar, Paulo Oliveira, Automatica, Elsevier, Vol. 50, No. 1, pp. 225–232, January. DOI: 10.1016/j.automatica.2013.10.001., 2014

[17] Position and Velocity Filters for ASC/I-AUV Tandems based on Single Range Measurements, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Journal of Intelligent & Robotic Systems, Vol. 74, Issue 3-4, pp. 745-768, June, 2014

[18] An Angular Approach for Range-Based Approximate Maximum Likelihood Source Localization Through Convex Relaxation, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Marco Stošić, Paulo Oliveira, IEEE Transactions on Wireless Communications, Vol. 13, No. 7, pp. 3951-3964, July. DOI:10.1109/TWC.2014.2314653, 2014

[19] A leader-following trajectory generator with application to quadrotor formation flight, Valter Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Elsevier Robotics and Autonomous Systems, Vol. 62, No. 10, pp. 1597-1609, October, 2014

[20] Sensor-based Long Baseline Navigation: observability analysis and filter design, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Asian Journal of Control, vol. 16, no. 4, pp. 974-994, July, 2014

[21] Embedded Vehicle Dynamics Aiding for USBL/INS Underwater Navigation System, Marco Morgado, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, IEEE Transactions on Control Systems Technology, Vol. 22, No. 1, pp. 322-330, January , 2014 - PDF

[22] Automatic 2-D LiDAR Geometric Calibration of Installation Bias, Bruno J. N. Guerreiro, Carlos Silvestre, Paulo Oliveira, Elsevier Robotics and Autonomous Systems, 62, pp. 1116-1129. DOI:10.1016/j.robot.2014.05.001, 2014

[23] Tightly-coupled Ultra-Short Baseline and Inertial Navigation System for Underwater Vehicles: an Experimental Validation, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Journal of Field Robotics, Vol. 30, Issue 1, pp. 142-170, January / February, 2013 - PDF

[24] Globally Asymptotically Stable Sensor-based Simultaneous Localization and Mapping, Bruno J. N. Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Robotics, vol. 29, no.6, pp. 1380-1395, December, 2013 - PDF

[25] Globally exponentially stable filters for source localization and navigation aided by direction measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Systems & Control Letters, vol. 62, no. 11, pp. 1065-1072, November, 2013 - PDF

[26] Global Attitude and Gyro Bias Estimation Based on Set-Valued Observers, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, Elsevier Systems and Control Letters, Vol. 62, Issue 10, pp. 937-942, October, 2013 - PDF

[27] Nonlinear Attitude Observer Based on Range and Inertial Measurements, Sérgio Brás, Rita Cunha, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Control Systems Technology, Vol. 21, No. 5, pp. 1889-1897, September, 2013 - PDF

[28] A GES attitude observer with single vector observations, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Automatica, Vol. 48, No. 2, pp. 388395, 2012

[29] Attitude estimation for Intervention-AUVs working in Tandem with Autonomous Surface Crafts, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, European Journal of Control, vol. 18, no. 5, pp. 485-495, September-October, 2012

[30] Sensor-based Globally Asymptotically Stable Filters for Attitude Estimation: Analysis, Design, and Performance Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Automatic Control, vol. 57, no. 8, pp. 2095-2100, August, 2012

[31] Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies, D. Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Systems & Control Letters, vol. 61, no. 3, pp. 443-453, March, 2012

[32] Globally Exponentially Stable Cascade Observers for Attitude Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Control Engineering Practice, vol. 20, no. 2, pp. 148-155, February, 2012

[33] Maritime Traffic Monitoring Based on Vessel Detection, Tracking, State Estimation, and Trajectory Prediction, L. P. Perera, C. Guedes Soares, Paulo Oliveira, IEEE Transactions on Intelligent Transportation Systems, vol. 13, nº 3, pp. 1188-1200, September, 2012

[34] Single Pan and Tilt Camera Indoor Positioning and Tracking System, Paulo Oliveira, T. Gaspar, European Journal of Control, vol. 17, no 4, August, 2011

[35] A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame, José Vasconcelos, G. Elkaim, Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, IEEE Transactions on Aerospace and Electronics Systems, vol.47, no 2, pp.1293-1306, April, 2011

[36] Discrete-Time Complementary Filters for Attitude and Position Estimation: Design, Analysis and Experimental Validation, José Vasconcelos, Bruno Cardeira, Carlos Silvestre, Paulo Oliveira, Pedro Batista, IEEE Transactions on Control Systems Technology, vol. 19, no. 1, pp. 181-198, January, 2011

[37] Single Range Aided Navigation and Source Localization: observability and filter design, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Systems and Control Letters, Vol. 60, No. 8, pp. 665-673, 2011

[38] A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements, Sérgio Brás, Rita Cunha, Jose Vasconcelos, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Robotics, Vol. 27, no. 4, pp. 664-677, August, 2011

[39] Vector-based Attitude Filter for Space Navigation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Journal of Intelligent & Robotic Systems, Vol. 64, No. 2, pp. 221-243, 2011

[40] Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, IEEE Transactions on Control Systems Technology, Vol. 19, No. 5, pp. 1128-1137, 2011

[41] INS/GPS Aided by Frequency Contents of Vector Observations with Application to Autonomous Surface Crafts, Paulo Oliveira, Carlos Silvestre, Jose Vasconcelos, IEEE Journal of Oceanic Engineering, Vol. 36, No 2, April, 2011

[42] Robust Localization of Nodes and Time-Recursive Tracking in Sensor Networks Using Noisy Range Measurements, P. Ekim, J. Gomes, João Xavier, Paulo Oliveira, IEEE Transactions on Signal Processing, vol. 59, no 8, pp. 3930-3942, August, 2011

[43] On the observability of linear motion quantities in navigation systems, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Systems & Control Letters, vol. 60, no. 2, pp. 101-110, February, 2011

[44] Combination of Lyapunov and Density Functions for Stability of Rotational Motion, José Vasconcelos, A. Rantzer, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Automatic Control, Vol. 56, no. 11, pp. 2599-2607, November, 2011

[45] Partial Attitude and Rate Gyro Bias Estimation: Observability Analysis, Filter Design, and Performance Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Control, Volume 84, Issue 5, 2011

[46] Position USBL/DVL Sensor-Based Navigation Filter in the Presence of Unknown Ocean Currents, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Automatica, Vol. 47, Issue 12, pp. 2604-2614, December, 2011

[47] A nonlinear position and attitude observer on SE(3) using landmark measurements, Jose Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Systems and Control Letters, Vol.59, No. 3 - 4, pp. 155-166, March-April, 2010

[48] Embedded UAV model and LASER aiding techniques for inertial navigation systems, Jose Vasconcelos, Carlos Silvestre, Paulo Oliveira, Bruno J. N. Guerreiro, Control Engineering Practice, vol.18, no. 3, pp. 262-278, Elsevier, March, 2010

[49] A time differences of arrival-based homing strategy for autonomous underwater vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Robust and Nonlinear Control, vol. 20, no. 15, pp. 1758-1773, October , 2010

[50] Interpolation of Signals with Missing Data using Principal Component Analysis, Paulo Oliveira, L. Gomes, Multidimensional Systems and Signal Processing Journal, Springer, vol. 21, no1, pp. 25-43, DOI: 10.1007/s11045-009-0086-3, March, 2010

[51] Optimal Position and Velocity Navigation Filters for Autonomous Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Automatica, vol. 46, no. 4, pp. 767-774, April, 2010

[52] A Sensor-Based Controller for Homing of Underactuated AUVs, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Robotics, vol. 25, no. 3, pp. 701-716, June, 2009

[53] Position and Velocity Navigation Systems for Unmanned Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Control Systems Technology, vol. 17, no. 3, pp. 707-715, May, 2009 - PDF

[54] Stability and Performance-Robustness Tradeoffs: MIMO Mixed-mu vs Complex-mu Designs, Michael Athans, S. Fekriasl, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, International Journal of Robust and Nonlinear Control, Vol. 19, No. 3, pp. 259-294, February, 2009 - PDF

[55] Study and Implementation of an EKF GIB-based Underwater Positioning System, Alex Alcocer, Paulo Oliveira, António Pascoal, IFAC Journal of Control Engineering Practice, Vol. 15, no. 6, pp. 689-701, Elsevier, 2007 - PDF

[56] MMAE Terrain Navigation for Underwater Vehicles using PCA, Paulo Oliveira, International Journal of Control, Vol. 80, No. 7, pp. 1008-1017, 2007

[57] Novos Instrumentos para a Inspeccao e Diagnostico de Quebra-mares de Taludes, J. Santos, António Pascoal, M. Neves, L. Silva, Carlos Silvestre, Paulo Oliveira, Luís Sebastião, Joao Alves, Tecnologia da agua, March, pp. 44-50, 2006 - PDF

[58] Compositional Abstractions of Hybrid Control Systems, G. J. Pappas, Pedro Lima, Paulo Oliveira, P. Tabuada, Journal of Discrete Event Dynamic Systems, Volume 14, Issue 2, 2004 - PDF

[59] Navigation System Design using Time-Varying Complementary Filters, António Pascoal, I. Kaminer, Paulo Oliveira, IEEE Trans. Aerospace and Electronic Systems, No. 4, pp. 1099-1114, 2000 - PDF

[60] Mission Control System of the MARIUS AUV: System design, implementation, and tests at sea, António Pascoal, Paulo Oliveira, Carlos Silvestre, V. Silva, International Journal of Systems Science, Vol.29, No 10, pp.1065-1080, October, 1998

[61] MARIUS: An Autonomous Underwater Vehicle for Coastal Oceanography, António Pascoal, Paulo Oliveira, Carlos Silvestre, A. Bjerrum, A. Ishoy, J. Paul Pignon, G. Ayela, C. Petzelt, IEEE Robotics and Automation Magazine, Special issue on Robotics and Automation in Europe: Projects funded by the Commission of the European Union, pp. 46-59, 1997 - PDF

[62] Navigation, guidance and control of AUVs: An application to the MARIUS vehicle, D. Fryxell, Paulo Oliveira, António Pascoal, Carlos Silvestre, I. Kaminer, Control Engineering Practice, Elsevier, Vol. 4, No. 3, pp. 401-409, March, 1996 - PDF

[63] Controlo Inteligente de Trafego para Redes de AGVs, Pedro Domingos, Paulo Oliveira, Revista Tecnica, 1991

[64] Linguagens de Programacao de Bracos Robot, João Sentieiro, R. Costa, João Sequeira, Paulo Oliveira, Revista de Informatica, Associacao Portuguesa de Informatica, 1987

Book Chapters

[65] New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation, Pedro Lourenço, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, In Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, T. I. Fossen, K. Y. Pettersen, H. Nijmeijer (Eds.), Springer, pp. 121-141, 2017

[66] Vehicle and Mission Control of Single Multiple Autonomous Marine Robots, Paulo Oliveira, Carlos Silvestre, António Pascoal, In Advances in Unmanned Marine Vehicles, IEE Contol Engineering Series, G. Roberts and R. Sutton (Eds), pp. 353-386, 2006 - PDF

Conference Papers

[67] Relative Attitude Observers for Three-Platform Formations with Inertial Spread Observations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2016 - 55th IEEE Conference on Decision and Control, Las Vegas, Nevada USA, pp. 6266-6271, 2016

[68] Globally Convergent Relative Attitude Observers for Three-Platform Formations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2015 - 54th IEEE Conference on Decision and Control, Osaka, Japan, pp. 2146-2151, 2015

[69] Pseudo-Range Navigation with Clock Offset and Propagation Speed Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2015 - 54th IEEE Conference on Decision and Control, Osaka, Japan, pp. 7636-7641, 2015

[70] Towards Uncertainty Optimization in Active SLAM, Pedro Lourenco, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CDC 2015 - 54th IEEE Conference on Decision and Control, Osaka, Japan, pp. 3242-3247, 2015

[71] A Globally Exponentially Stable filter for Bearing-Only Simultaneous Localization and Mapping in 3-D, Pedro Lourenço, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Proc. of ECC 2015 - 14th Annual European Control Conference, Linz, Austria , 2015

[72] Simultaneous Localization and Mapping in Sensor Networks: a GES sensor-based filter with moving object tracking, Pedro Lourenço, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2015 - 14th Annual European Control Conference, Linz, Austria , 2015 - PDF

[73] Robust Outlier Detection and Classification for USBL Undewater Positioning Systems, Marco Morgado, Carlos Silvestre, Paulo Oliveira, Proc. of CONTROLO 2014 - 11th Portuguese Conference on Automatic Control, Porto, Portugal, 2014

[74] Implementation and Validation of a Docking System for Nonholonomical Vehicles,, J. Barbosa, C. Cardeira, Paulo Oliveira, Proc. of CONTROLO 2014 - 11th Portuguese Conference on Automatic Control, Porto, Portugal, 2014

[75] Design and Validation of a Linear Parameter Varying Localization System, J. Barbosa, C. Cardeira, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Proc. of ICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, Espinho, Portugal, 2014

[76] Three Dimensional Trajectory Planner for Real Time Leader Following, P. Pereira, David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[77] Synchronization of two independently moving cameras without feature correspondences, Tiago Gaspar, P. Favaro, Paulo Oliveira, Proc. of ECCV 2014 - European Conference on Computer Vision, Zurich, 2014

[78] Trailer-Like Leader Following Trajectory Planning, P. Pereira, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014

[79] Embedded Vehicle Dynamics Aiding for USBL/INS Underwater Navigation System, Marco Morgado, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[80] Nonlinear observability and observer design through state augmentation, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CDC 2014 - 53rd IEEE Conference on Decision and Control, Los Angeles, USA, pp. 133-138, 2014

[81] Underwater Source Localization based on USBL measurements, Joel Reis, N. Carvalho, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CONTROLO 2014 - 11th Portuguese Conference on Automatic Control, Porto, Portugal, 2014

[82] Filter Design for Localization aided by Direction and Doppler Measurements, Joel Reis, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong , China, pp. 2957-2962, 2014

[83] Attitude and Earth Velocity Estimation – Part II: Observer on the Special Orthogonal Group, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2014 - 53rd IEEE Conference on Decision and Control, Los Angeles, USA, pp. 127-132, 2014

[84] Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping, P. Lourenco, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, pp. 5692-569, 2013 - PDF

[85] GES Source Localization and Navigation based on Discrete-Time Bearing Measurement, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, pp. 5066-5071, 2013 - PDF

[86] 3-D Inertial Trajectory and Map Online Estimation: Building on a GAS Sensor-based SLAM filter, P. Lourenco, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, pp. 4214-4219, 2013 - PDF

[87] GES Tightly Coupled Attitude Estimation based on a LBL/USBL Positioning System, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, pp. 2988-2993, 2013 - PDF

[88] GAS Tightly Coupled LBL/USBL Position and Velocity Filter for Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, pp. 2982-2987, 2013 - PDF

[89] GAS Decentralized Navigation Filters in a Continuous-Discrete Fixed Topology Framework, D. Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1286-1291, 2013 - PDF

[90] GES Source Localization based on Discrete-Time Position and Single Range Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1248-1253, 2013 - PDF

[91] Preliminary Results on the Estimation Performance of Single Range Source Localization, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 419-424, 2013 - PDF

[92] Further results on the observability in magneto-inertial navigation, Pedro Batista, N. Petit, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, pp. 2509-2514, 2013 - PDF

[93] Nonlinear Observer for 3D Rigid Body Motion, Sérgio Brás, M. Izadi, Carlos Silvestre, A. Sanyal, Paulo Oliveira, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013 - PDF

[94] Experimental Validation of a Visual Odometry System for Indoor Unstructured Environments, F. Carreira, J. M. F. Calado, J. Rodrigues, C. Cardeira, Paulo Oliveira, Proc. of ICAR 2013 - 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013 - PDF

[95] A novel leader-following strategy applied to formations of quadrotors, V. Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF

[96] A Received Signal Strenght Indication-based Localization System, P. Lourenco, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1242-1247, 2013 - PDF

[97] Preliminary Results on Globally Asymptotically Stable Simultaneous Localization and Mapping in 3-D, P. Lourenco, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, pp. 3093-3098, 2013 - PDF

[98] Decentralized linear state observers for vehicle formations with time-varying topologies, D. Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, pp. 65-70, 2013 - PDF

[99] A Bayesian Grid Method PCA-based for Mobile Robots Localization in Unstructured Environments, F. Carreira, C. Cardeira, J. M. F. Calado, Paulo Oliveira, Proc. of ICAR 2013 - 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013 - PDF

[100] Enhanced PCA-Based Localization Using Depth Maps with Missing Data, F. Carreira, C. Cardeira, J. M. F. Calado, Paulo Oliveira, Proc. of ROBOTICA 2013 - 13th International Conference on Autonomous Robot Systems and Competitions, Lisboa, Portugal, 2013 - PDF

[101] RSS based Cooperation Sensor Network Localization with Unknown Transmit Power, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Paulo Oliveira, Proc. of the 21st Signal Processing and Communications Applications Conference (SIU), Haspolat, Turkey, 2013 - PDF

[102] LMI-based H 2 adaptive filtering for 3D positioning and tracking systems, Tiago Gaspar, Paulo Oliveira, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF

[103] TW-TOA based cooperative sensor network localization with unknown turn-around time, Pinar Oguz-Ekim, João Pedro Gomes, Paulo Oliveira, E. Strom, M. Gholami, Proc. of ICASSP 2013 - IEEE International Conference on Acoustics, Speech and Signal Processing, Vancouver, Canada , 2013

[104] Experimental Evaluation of Simultaneous 3D Localization of Sensor Nodes and Tracking Moving Targets, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Paulo Oliveira, Proc. of EUSIPCO 2012 - 20th European Signal Processing Conference, Bucharest, Romania, 2012 - PDF

[105] Sensor-based Simultaneous Localization and Mapping – Part I: GAS Robocentric Filter, Bruno J. N. Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 6352-6357, 2012

[106] Decentralized Range-based Linear Motion Estimation in Acyclic Vehicle Formations with Fixed Topologies, D. Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 6575-6580, 2012

[107] Position and Velocity Filters for Intervention AUVS based on Single Range and Depth Measurements, D. Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc.of ICRA 2012 - IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, pp. 4878-4883, 2012

[108] Attitude Filter for Intervention-AUVs working in Tandem with Autonomous Surface Craft, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, 2012

[109] GAS ocean current estimation with limited velocity readings, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, 2012

[110] Set-Valued Observers for Attitude and Rate Gyros Bias Estimation, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Canada, 2012

[111] Globally Asymptotically Stable Filter for Navigation aided by Direction and Depth Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 6603-6609, 2012

[112] GES Integrated LBL/USBL Navigation System for Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 6609-6614, 2012

[113] A Two-Step Control Strategy for Docking of Autonomous Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 5395-5400, 2012

[114] Sensor-based Simultaneous Localization and Mapping – Part II: Online Inertial Map and Trajectory Estimation, Bruno J. N. Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 6334-6339, 2012

[115] Fault Detection and Isolation for Inertial Measurement Units, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012

[116] Integrated Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera, David Cabecinhas, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Rita Cunha, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012

[117] Quaternion Estimation for Attitude Determination Using Multiple L1 GPS Receivers, J. Coias, J. Sanguino, Paulo Oliveira, Proc. of Navitec 2012 - 6th ESA Workshop on Satellite Navigation Technologies, Noordwijk, Netherlands, 2012

[118] 2D PCA-based Localization for Mobile Robots in Unstructured Environments, F. Carreira, C. Christo, D. Valerio, M. Ramalho, C. Cardeira, J. Calado, Paulo Oliveira, Proc. of IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012

[119] Preliminary Results of Project MAST/AM: Advanced Tracking and Telemetry Methodologies to Study Marine Animals, Paulo Oliveira, Marco Morgado, Barbara Block, Carlos Silvestre, Karim Erzini, Andre Afonso, Fabio Hazin, Proc. of IEEE OCEANS 2011 Conference, Santander, Spain, 2011

[120] Optimal Attitude Estimation Using Set-Valued Observers, Paulo Oliveira, Carlos Silvestre, Sérgio Brás, Paulo Rosa, Proc. of CDC2011 - 50th IEEE Conference on Decision and Control, Atlanta, USA, 2011

[121] UAV-based Marine Mammals Positioning and Tracking System, Paulo Oliveira, Carlos Silvestre, Tiago Gaspar, Proc. of ICMA 2011 - IEEE International Conference on Mechatronics and Automation, Beijing, China, 2011

[122] A Closed-loop Design Methodology for Underwater Transducers Pulse-shaping, Paulo Oliveira, Marco Morgado, Carlos Silvestre, Proc. of ICMA 2011 - IEEE International Conference on Mechatronics and Automation, Beijing, China, 2011

[123] Monocular Depth from Focus Estimation with Complementary Filters, Paulo Oliveira, Tiago Gaspar, Proc. of ICRA 2011 - IEEE International Conference on Robotics and Automation, Shanghai, China, 2011

[124] Automatic LADAR Calibration Methods using Geometric Optimization, Paulo Oliveira, Carlos Silvestre, Bruno J. N. Guerreiro, Proc. of ICRA 2011 - IEEE International Conference on Robotics and Automation, Shanghai, China, 2011

[125] New Dynamic Estimation of Depth from Focus in Active Vision – Data acquisition, LPV design, analysis and test, Paulo Oliveira, Tiago Gaspar, Proc. of VISAPP - International Conference on Computer Vision Theory and Applications, Algarve, Portugal, 2011

[126] An Experimentally Evaluated Attitude Observer Based on Range and Inertial Measurements, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Jose Fernandes Vasconcelos, Rita Cunha, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[127] Depth Estimation in Active Monocular Vision Systems for Indoor 3D Tracking, Tiago Gaspar, Paulo Oliveira, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[128] Decentralized Linear Motion Estimators for AUV Formations with Fixed Topologies, D. Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[129] Online Model Identification for Set-Valued State Estimators with Discrete-Time Measurements, João Messias, Paulo Oliveira, Pedro Lima, Proc. of 18th IFAC World Congress, Milano, Italy, 2011

[130] Position and Velocity USBL/IMU Sensor-based Navigation Filter, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Marco Morgado, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[131] Globally Asymptotically Stable Filters for Source Localization and Navigation aided by Direction Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011

[132] GES Attitude Observers – Part II: Single Vector Observations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[133] GES Attitude Observers – Part I: Multiple General Vector Observations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[134] Dynamic Parameter Estimation of a Nonlinear Vessel Steering Model of Ocean Navigation, Lokukaluge Perera, Carlos Guedes Soares, Paulo Oliveira, Proc. of OMAE 2011 - 30th International Conference on Ocean, Offshore and Arctic Engineering, Roterdan, The Netherlands , 2011

[135] Collaborated and Constrained Neural-EKF Algorithm for the Vessel Traffic Monitoring and Information System, Lokukaluge Perera, Carlos Guedes Soares, Paulo Oliveira, Proc. of OMAE 2011 - 30th International Conference on Ocean, Offshore and Arctic Engineering, Roterdan, The Netherlands, 2011

[136] Linear Motion Observers for ASC/AUV Tandems based on Single Range Readings, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2011 - American Control Conference, San Francisco, USA, 2011

[137] Computationally Efficient GES Cascade Observer for Attitude Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2011 - American Control Conference, San Francisco, USA, 2011

[138] Position USBL/DVL Sensor-Based Navigation Filter in the Presence of Unknown Ocean Currents, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010

[139] A Sensor-based Long Baseline Position and Velocity Navigation Filter for Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010

[140] Single Beacon Navigation: Observability Analysis and Filter Design, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2010 - American Control Conference, Baltimore, Maryland, USA, 2010

[141] Experimental evaluation of a USBL underwater positioning system, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of the 52nd International Symposium ELMAR-2010, Zadar, Croacia, 2010

[142] Design and experimental evaluation of an integrated USBL/INS system for AUVs, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of ICRA 2010 - IEEE International Conference on Robotics and Automation, Anchorage, EUA, 2010

[143] Low-cost Attitude and Heading Reference System: Filter Design and Experimental Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, Proc of ICRA 2010 - International Conference on Robotics and Automation, Anchorage, USA, 2010

[144] Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements, Sérgio Brás, Rita Cunha, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2010 - American Control Conference, Baltimore, Maryland, USA, 2010

[145] Estimation of Chaotic States Using Extended Kalman Filters, M. Almeida, Paulo Oliveira, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010

[146] USBL Positioning System: Implementation and Tests at Sea, J. Picao, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010

[147] A convex relaxation for approximate maximum-likelihood 2D source localization from range measurements, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Paulo Oliveira, Proc. of ICASSP 2010 - IEEE International Conference on Acoustics, Speech and Signal Processing, Dallas, Texas, USA, 2010

[148] Nonlinear Attitude Estimation Using Active Vision and Inertial Measurements, Carlos Silvestre, Sérgio Brás, Rita Cunha, José Vasconcelos, Paulo Oliveira, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF

[149] Combination of Primal and Dual Lyapunov Methods for Stability of Rotational Motion, José Vasconcelos, A. Rantzer, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF

[150] Sensor-based Complementary Globally Asymptotically Stable Filters for Attitude Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF

[151] Joint Positioning and Navigation Aiding Systems for Multiple Underwater Robots, R. Sousa, Paulo Oliveira, T. Gaspar, Proc. of MCMC 2009 - 8th IFAC Conference on Manoeuvring and Control of Marine Craft, Guaruja, Brazil, 2009 - PDF

[152] Posterior Cramer-Rao bounds analysis for INS/USBL navigation systems, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of MCMC 2009 - 8th IFAC Conference on Manoeuvring and Control of Marine Craft, Guaruja, Brazil (best student paper award), 2009 - PDF

[153] Stability of a Nonlinear Attitude Observer on SO(3) with Nonideal Angular Velocity Measurements, José Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF

[154] Single Pan and Tilt Camera Indoor Positioning and Tracking System, Paulo Oliveira, Tiago Gaspar, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF

[155] Single Range Navigation in the presence of Constant Unknown Drifts, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF

[156] Discrete Time-Varying Attitude Complementary Filter, Paulo Oliveira, José Vasconcelos, Pedro Batista, Carlos Silvestre, Bruno Cardeira, Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF

[157] A Single Pan and Tilt Camera Architecture for Indoor Positioning and Tracking, Paulo Oliveira, T. Gaspar, Proc. of VISAPP 2009 - The International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Lisbon, Portugal, 2009 - PDF

[158] Position and Velocity Optimal Sensor-based Navigation Filters for UAVs, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF

[159] Necessary and sufficient conditions for the observability of linear motion quantities in strapdown navigation systems, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF

[160] Pose Observers for Unmanned Air Vehicles, Sérgio Brás, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2008 - PDF

[161] Underwater Vehicle Tracking Systems: Motion Models and performance analysis, Paulo Oliveira, Carlos Silvestre, P. Valverde, Proc. of CONTROLO 2008 - 8th Portuguese Conference on Automatic Control, Vila Real, Portugal, 2008

[162] Nonlinear and Geometric Optimization Methods for LADAR Calibration, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Bruno J. N. Guerreiro, Proc. ICRA 2008 - IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008

[163] A Landmark Based Nonlinear Observer for Attitude and Position Estimation with Bias Compensation, Paulo Oliveira, Rita Cunha, Carlos Silvestre, José Vasconcelos, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008

[164] A Dynamic Estimator on SE(3) Using Range-Only Measurements, Alex Alcocer, António Pascoal, Paulo Oliveira, Rita Cunha, Carlos Silvestre, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008

[165] Joint Positioning and Navigation Aiding System for Underwater Robots, Alex Alcocer, António Pascoal, Paulo Oliveira, Reza Ghabcheloo, R. Sousa, Proc. of MTS/IEEE OCEANS Conference, Quebec, Canada, 2008

[166] A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame, José Vasconcelos, G. Elkaim, Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, Proc. NGCUV 2008 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, 2008

[167] A Nonlinear Observer for Rigid Body Attitude Estimation Using Vector Observations, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008

[168] A Nonlinear GPS/IMU Based Observer for Rigid Body Attitude and Position Estimation, Carlos Silvestre, José Vasconcelos, Paulo Oliveira, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008

[169] Position and Velocity Navigation Filters for Marine Vehicles, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of the 17th IFAC World Congress, Seoul, South Korea, 2008

[170] Vehicle Dynamics Aiding Technique for USBL/INS Underwater Navigation System, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Marco Morgado, Proc. of CAMS 2007- IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007 - PDF

[171] Observer Design for a Class of Kinematic Systems, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007

[172] Nonlinear Pose Estimation on SE(3), Paulo Oliveira, Rita Cunha, Carlos Silvestre, José Vasconcelos, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007

[173] Landmark Based Nonlinear Observer for Rigid Body Attitude and Position Estimation, Paulo Oliveira, Rita Cunha, Carlos Silvestre, José Vasconcelos, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007 - PDF

[174] Diffusion Based Trajectory Observers with Measurement Error Information, Alex Alcocer, António Pascoal, Paulo Oliveira, Proc. of CAMS 2007- IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007

[175] Nonlinear Observers for Tracking and Navigation of Marine Systems: Design Based on Motion Linearization, Paulo Oliveira, Proc. of CAMS 2007- IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007

[176] Maximum Likelihood Attitude and Position Estimation from Pseudo-Range Measurements using Geometric Descent Optimization, Alex Alcocer, Paulo Oliveira, António Pascoal, João Xavier, Proc. CDC'06 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF

[177] Vehicle and Mission Control of the DELFIM Autonomous Surface Craft, Joao Alves, Rodolfo Oliveira, Paulo Oliveira, António Pascoal, Manuel Rufino, Luís Sebastião, Carlos Silvestre, Proc. MED2006 - 14th Mediterranean Conference on Control and Automation, Ancona, Italy, 2006 - PDF

[178] Interpolation of Signals with Missing Data using PCA, Paulo Oliveira, Proc. ICASSP2006 - IEEE International Conference on Acoustics, Speech, and Signal Processing, Toulouse, France, 2006 - PDF

[179] USBL/INS Integration Technique for Underwater Vehicles, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Marco Morgado, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF

[180] Estimation of Attitude and Position from Range only Measurements using Geometric Descent Optimization on the Special Euclidean Group, Alex Alcocer, António Pascoal, Paulo Oliveira, João Xavier, Proc. FUSION2006 - 9th International Conference on Information Fusion, Florence, Italy, 2006 - PDF

[181] USBL/INS Tightly-Coupled Integration Technique for Underwater Vehicles, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Marco Morgado, Proc. FUSION2006 - 9th International Conference on Information Fusion, Florence, Italy, 2006 - PDF

[182] Underwater Acoustic Positioning Systems based on Buoys with GPS, Alex Alcocer, António Pascoal, Paulo Oliveira, Proc. ECUA2006 - 8th European Conference on Underwater Acoustics, Carvoeiro, Portugal, 2006 - PDF

[183] A Sensor Based Homing Strategy for Autonomous Underwater Vehicles, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. MED2006 - 14th Mediterranean Conference on Control and Automation, Ancona, Italy, 2006 - PDF

[184] Embedded Vehicle Dynamics and LASER Aiding Techniques for Inertial Navigation Systems, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006 - PDF

[185] A 2D Sensor Based Control Law for Homing of AUVs in the Horizontal Plane, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006 - PDF

[186] A 2D Homing Strategy for Autonomous Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Vehicles, Lisbon, Portugal, 2006 - PDF

[187] A Quaternion Sensor Based Controller for Homing of Underactuated AUVs, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF

[188] Uncertainty vs Performance Tradeoffs in Robust Feedback Control: A MIMO Case Study, José Vasconcelos, Michael Athans, Sajjad Fekri, Carlos Silvestre, Paulo Oliveira, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF

[189] A Nonlinear Filter for range-only Attitude and Position Estimation, Alex Alcocer, Paulo Oliveira, António Pascoal, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF

[190] Terrain based Navigation Tools for Underwater Vehicles using Eigen Analysis, Paulo Oliveira, Proc. of 16th IFAC World Congress, Prague, Czech republic, 2005

[191] PCA Positioning Sensor Characterization for Terrain Based Navigation of UVs, Paulo Oliveira, Proc. of IbPRIA2005 - 2nd Iberian Conference on Pattern Recognition and Image Analysis, Estoril, Portugal, 2005

[192] Inertial Navigation System Aided by GPS and Selective Frequency Contents of Vector Measurements, José Vasconcelos, Paulo Oliveira, Carlos Silvestre, AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, USA, 2005 - PDF

[193] MMAE Terrain Reference Navigation for Underwater Vehicles using Eigen Analysis, Paulo Oliveira, Proc. of CDC-ECC2005 - 44th IEEE Conference on Decision and Control and European Control Conference, Seville, Spain, 2005

[194] Novos Instrumentos para a Inspeccao e Diagnostico de Quebra-mares de Taludes, J. Santos, M. Neves, L. Silva, Carlos Silvestre, Paulo Oliveira, Luís Sebastião, Porfírio Silva, 4ªs Jornadas Portuguesas de Engenharia Costeira e Portuaria, Angra do Heroismo, Portugal, 2005

[195] GPS aided IMU for Unmanned Air Vehicles, José Vasconcelos, J. Calvario, Paulo Oliveira, Carlos Silvestre, IAV 2004 - 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF

[196] Study and Implementation of an EKF GIB-based Underwater Positioning System, Alex Alcocer, Paulo Oliveira, António Pascoal, Proc. of CAMS 2004 - IFAC Conference on Control Applications in Marine Systems, Ancona, Italy, 2004 - PDF

[197] Extreme Ecosystem Studies in the Deep Ocean -Technological Developments: The EXOCET/D Project FP6-GOCE-CT-2003-505342, P. M. Sarradin, J. Sarrazin, J.F. Cadiou, K. Olu, D. Desbruyeres, V. Rigaud, J. F. Drogou, F. Lecornu, J. F. Rolin, R. Vuillemin, M. A. Cambon-Bonavita, E. Sauter, K. von Juterzenka, A. Boetius, R. Serrao Santos, A. Colaco, António Pascoal, Paulo Oliveira, B. Shillito, F. Zal, A. Schultz, P. Taylor, D. Lane, Robert Loke, Hans Du Buf, C. Waldmann, A. Cormack, L. Sanfilippo, M. Masson, Proc. of the 14th International Offshore and Polar Engineering Conference, Toulon, France, Vol. 1, pp. 738-746, 2004

[198] Inspection and Diagnosis of Sines West Breakwater, Carlos Silvestre, Paulo Oliveira, António Pascoal, Luís Sebastião, Joao Alves, A. Santos, L. Silva, M. Neves, ICCE'04 - 29th International Conference on Coastal Enginnering, LisboN, Portugal, 2004 - PDF

[199] On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), Paulo Oliveira, António Pascoal, Proc. IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003

[200] On the Design of Multirate Complementary Filters for Autonomous Marine Vehicle Navigation, Paulo Oliveira, António Pascoal, Proc. GCUV2003 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, Inglaterra, 2003 - PDF

[201] Tools for the diagnosis and automated inspection of semi-submerged structures, L. Silva, J. Santos, M. Neves, Carlos Silvestre, Paulo Oliveira, António Pascoal, Proc. 13th International Harbour Congress, Antwerpen, Belgium, 2003

[202] Ferramentas de Inspeccao e Diagnostico de Obras de Proteccao Portuaria, L. Silva, J. Santos, M. Neves, Carlos Silvestre, Paulo Oliveira, António Pascoal, 2ª Jornadas Portuguesas de Engenharia Costeira e Portuaria, Sines, Portugal, 2003

[203] A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Paulo Oliveira, António Pascoal, I. Kaminer, Conferencia MED 2002, Lisboa, Portugal, 2002 - PDF

[204] A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Paulo Oliveira, António Pascoal, I. Kaminer, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002 - PDF

[205] Remote sensing at D. Joao de Castro bank: tools for biology and conservation studies, R. S. Santos, António Pascoal, P. Dando, F. Cardigos, F. Tempera, Paulo Oliveira, Carlos Silvestre, M. Cardew, 5th SOC2001, Southampton, 2001 - PDF

[206] Robotic Ocean Vehicles for Marine Science Applications: the European ASIMOV Project, António Pascoal, Paulo Oliveira, Carlos Silvestre, Luís Sebastião, Manuel Rufino, Victor Barroso, João Pedro Gomes, G. Ayela, P. Coince, M. Cardew, A. Ryan, H. Braithwaite, N. Cardew, J. Trepte, N. Seube, J. Champeau, P. Dhaussy, V. Sauce, R. Moitie, R. S. Santos, F. Cardigos, M. Brussieux, P. Dando, Proc. OCEANS 2000 MTS /IEEE, pp.409-415, Providence, Rhode Island, USA, 2000 - PDF

[207] Advanced System Integration for Managing the Coordinated Operation of Robotic Ocean Vehicles, António Pascoal, Paulo Oliveira, Carlos Silvestre, Luís Sebastião, Manuel Rufino, Victor Barroso, João Pedro Gomes, Gerard Ayela, Pascal Coince, Marcus Cardew, Anne Ryan, Hugh Braithwaite, Nicholas Cardew, Jonathan Trepte, Nicolas Seube, J. Champeau, P. Dhaussy, V. Sauce, R. Moitie, Ricardo Santos, Frederico Cardigos, Marc Brussieux, Paul Dando, Proc. EurOCEAN 2000, Hamburg, Germany, 2000

[208] Navigation System Design Using Time-Varying Complementary Filters, António Pascoal, I. Kaminer, Paulo Oliveira, Proc. AIAA Conference on Guidance, Navigation and Control, Portland, Oregon, 1999 - PDF

[209] Internet mission control of the ROMEO Unmanned Underwater Vehicle using the CORAL Mission Control, G. Bruzzone, R. Bono, M. Caccia, G. Veruggio, C. Ferreira, Carlos Silvestre, Paulo Oliveira, António Pascoal, OCEANS 1999 MTS/IEEE, pp. 1081-1087, vol. 3, Seatle, EUA, 1999 - PDF

[210] The use of “CARAVELA 2000” vehicles in operational oceanography, T. Alves, António Pascoal, A. Pereira, J. Rodeia, A. Simoes, M. Juliano, R. Duarte, Carlos Silvestre, Paulo Oliveira, Luís Sebastião, A. Jorge, R. Araujo, 2nd Eurogoos Conference 1999, Roma, Italia, 1999 - PDF

[211] Control of the SIRENE Underwater Shuttle: System Design and Tests at Sea, Carlos Silvestre, António Pascoal, Paulo Oliveira, P. Aguiar, Proc. 17th International Conference on Offshore Mechanics and Artic Engineering (OMAE'98-Conference), Lisbon, Portugal, 1998 - PDF

[212] Navigation System Design using Time-Varying Complementary Filters, António Pascoal, I. Kaminer, Paulo Oliveira, Proc. IEEE International Conference on Control Applications, pp. 1099 -1104 vol.2, Trieste, Italy, 1998 - PDF

[213] Guidance and Control of the SIRENE Underwater Vehicle: from System Design to Tests at Sea, Paulo Oliveira, Carlos Silvestre, P. Aguiar, António Pascoal, Proc. OCEANS'98 Conference, Nice, France, 1998 - PDF

[214] Navigation System Design: an Application of Multi-Rate Filtering Theory, Paulo Oliveira, António Pascoal, Proc. OCEANS'98 Conference, pp. 1348-1353, vol. 3, Nice, France, 1998 - PDF

[215] Vehicle and Mission Control of the SIRENE Underwater Shuttle, Paulo Oliveira, Carlos Silvestre, António Pascoal, A. Aguiar, Proc. IFAC Conference on Control Applications in Marine Systems (CAMS'98), Fukuoka, Japan, 1998 - PDF

[216] DESIBEL: the SIRENE Free Swimming Vehicle for the Management of Benthic Stations, V. Rigaud, D. Semac, M. Drogou, J. Obderdecke, C. Marfia, António Pascoal, Paulo Oliveira, Carlos Silvestre, Proc. 1st IARP International Workshop on Autonomous Underwater Vehicles for Shallow Waters and Coastal Environments, University of Southern Louisiana, Lafayette, Louisiana, 1998

[217] Control of the SIRENE Underwater Shuttle: System Design and Tests at Sea, Carlos Silvestre, A. Aguiar, P. Aguiar, Paulo Oliveira, António Pascoal, Proc. CONTROLO'98, Coimbra, Portugal, 1998 - PDF

[218] Navigation, Guidance and Control of AUVs: An Application to the MARIUS Vehicle, D. Fryxell, Paulo Oliveira, António Pascoal, Carlos Silvestre, I. Kaminer, Artigo convidado para ser apresentado no Control Applications in Marine Systems CAMS'95, Trondheim, Noruega, 1996 - PDF

[219] Strategic Level Mission Control – An Evaluation of CORAL and PROLOG Implementations for Mission Control Specifications, A. Healey, D. Marco, Paulo Oliveira, António Pascoal, Carlos Silvestre, V. Silva, Proc. IARP Workshop on Subsea Robotics, Toulon, 1996

[220] Design, Development and Testing of a Mission Control System for the MARIUS AUV, Paulo Oliveira, António Pascoal, Carlos Silvestre, V. Silva, Proc. IARP Workshop on Subsea Robotics, Toulon, 1996

[221] On the Design and Development of Mission Control Systems for Autonomous Underwater Vehicles: An Application to the MARIUS AUV, Paulo Oliveira, António Pascoal, Carlos Silvestre, V. Silva, Proc. 2nd World Automation Congress, Motpellier, France, 1996

[222] Design, Development and Testing at Sea of the Mission Control System for the MARIUS Autonomous Underwater Vehicle, Paulo Oliveira, António Pascoal, V. Silva, Carlos Silvestre, Proceedings of the Oceans 96 Conference, pp. 401-406, Fort Lauderdale, Florida, EUA, 1996 - PDF

[223] Design and Implementation of a Trajectory Tracking Controller for an Autonomous Underwater Vehicle (AUV), Carlos Silvestre, Paulo Oliveira, António Pascoal, D. Fryxell, I. Kaminer, American Control Conference ACC95, pp. 2975-2979, Seattle, EUA, 1995 - PDF

[224] Undersea Robotics Research at IST: The AUV MARIUS Programme, António Pascoal, Carlos Silvestre, Paulo Oliveira, V. Silva, Proc. Undersea Robotics and Intelligent Control Workshop, Lisboa, Portugal, 1995

[225] An Integrated Approach to the Design and Analysis of Navigation Guidance and Control Systems for AUVs, Carlos Silvestre, Paulo Oliveira, D. Fryxell, António Pascoal, Colloquium on Control and Guidance of Remotely Operated Vehicles, London, UK, 1995 - PDF

[226] Integrated Design of Navigation, Guidance and Control Systems for Unmanned Underwater Vehicles, D. Fryxell, Paulo Oliveira, António Pascoal, Carlos Silvestre, OCEANS 94 MTS/IEEE, pp. III/105 -III/110 vol.3, Brest, Franca, 1994 - PDF

[227] Design of a Mission Management System for the Autonomous Underwater Vehicle MARIUS, C. Bizingre, Paulo Oliveira, António Pascoal, F. Pereira, J-P. Pignon, E. Silva, Carlos Silvestre, J. Sousa, Symposium on Autonomous Underwater Vehicle Technology, pp.112-121, Cambridge, EUA, 1994 - PDF

[228] An Integrated Approach to the Design and Analysis of Navigation Guidance and Control Systems for AUVs, D. Fryxell, Paulo Oliveira, António Pascoal, Carlos Silvestre, Symposium on Autonomous Underwater Vehicle Technology, pp.208-217, Cambridge, EUA, 1994 - PDF

[229] Fuzzy Logic Steering Controller for a Guided Vehicle, F. Cardoso, F. Fontes, C. Pais, Paulo Oliveira, Isabel Ribeiro, Proceedings of the 7th Mediterranean Electrotechnical Conference, MELECON'94, pp.711-714, Turkey, 1994 - PDF

[230] Logica Difusa Aplicada a navegacao de um Veiculo Autonomo, F. Cardoso, F. Fontes, C. Pais, Paulo Oliveira, Isabel Ribeiro, IV Jornadas de Projecto, Planeamento e Producao Assistidas por Computador PPAPOP, Lisboa, 1993

[231] Selection of Controller Parameters using Genetic Algorithms, Paulo Oliveira, João Sequeira, João Sentieiro, The European Robotics and Intelligent Systems Conference, Corfu, Grecia, 1992 - PDF

[232] Simulation Study of an Integrated Guidance System for an Autonomous Underwater Vehicle, António Pascoal, Victor Barroso, Carlos Silvestre, Paulo Oliveira, Isabel Lourtie, Acoustic Signal Processing for Ocean Exploration, Funchal, Portugal, 1992

[233] Fuzzy Supervision on Intelligent Control Systems, Paulo Oliveira, Pedro Lima, João Sentieiro, 1st European Control Conference, Grenoble, France, 1991

[234] The Architecture of a Knowledge Based Controller for the Operation of Glass Melting Furnaces, Pedro Lima, Paulo Oliveira, Carlos Pinto-Ferreira, João Sentieiro, IFAC Workshop on Computer Software Structures Integrating AI/KBS Systems in Process Control, Bergen, Suecia, 1991 - PDF

[235] Fuzzy Supervision of Direct Controllers, Paulo Oliveira, Pedro Lima, João Sentieiro, 5th IEEE Conference on Intelligent Control, pp. 638-643, Philadelphia, USA, 1990 - PDF

[236] An Architecture for the Supervision of Fuzzy Controllers, Paulo Oliveira, Pedro Lima, João Sentieiro, R. Bravo, R. Galan, A. Jimenez, IEEE International Workshop on Intelligent Robots and Systems, pp. 919-924, vol. 2, Tsuchiura, Japan, 1990 - PDF

PhD Theses

[237] Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Paulo Oliveira, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF

MSc Theses

[238] Supervisao de Controladores, Paulo Oliveira, Tese de Mestrado, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, 1991 - PDF

Technical Reports

[239] Maximum Likelihood Attitude and Position Estimation from Pseudo-Range Measurements using Geometric Descent Optimization, Alex Alcocer, Paulo Oliveira, António Pascoal, João Xavier, ISR Technical Report, 2006 - PDF

[240] Interpolation of Signals with Missing Data using PCA, Paulo Oliveira, ISR Technical Report, 2005 - PDF

[241] Inertial Navigation System Aided by GPS and Selective Frequency Contents of Vector Measurements, José Vasconcelos, Paulo Oliveira, Carlos Silvestre, ISR Technical Report, 2005 - PDF

[242] Outlier Detection in an Acoustic-based Positioning System for Autonomous Underwater Vehicles, Alex Alcocer, Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report, 2004

[243] High Accuracy Data Acquisition Architectures for Inertial Navigation Systems, Bruno Cardeira, Carlos Silvestre, Paulo Oliveira, DSORL-ISR Technical Report, 2004

[244] Terrain based Navigation Tools for Underwater Vehicles using Eigen Analysis, Paulo Oliveira, ISR Technical Report, 2004

[245] PCA Positioning Sensor Characterization for Terrain Based Navigation of UVs, Paulo Oliveira, ISR Technical Report, 2004

[246] The work of IST in the scope of the EXOCET/D project: a Summary, António Pascoal, Carlos Silvestre, Paulo Oliveira, Luís Sebastião, EXOCET/D Report EXOCET.INT01.2004, Instituto Superior Tecnico, 2004

[247] GPS Aided IMU for Unmanned Air Vehicles, José Vasconcelos, J. Calvario, Paulo Oliveira, Carlos Silvestre, DSORL-ISR Technical Report, 2003 - PDF

[248] Study and Implementation of an Acoustic-Based Positioning System for Autonomous Underwater Vehicles, Alex Alcocer, Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report, 2003

[249] On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report, 2002

[250] Vehicle and Mission Control of the DELFIM Autonomous Surface Craft, Joao Alves, Paulo Oliveira, António Pascoal, Manuel Rufino, Luís Sebastião, Carlos Silvestre, DSORL-ISR Technical Report, 2002 - PDF

[251] Periodic and Multirate Filter Design using LMIs, Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report. To be submitted for publication, 2001

[1] A Globally Exponentially Stable Filter for Bearing-Only Simultaneous Localization and Mapping with Monocular Vision, Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Robotics and Autonomous Systems, 2018 (in press)., 2017

[2] Hovercraft control with dynamic parameters identification, David Cabecinhas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, IEEE Transactions on Control Systems Technology, 2017 (in press)., 2017 - PDF

[3] Uncertainty Characterization of the Orthogonal Procrustes Problem with Arbitrary Covariance Matrices, Pedro Lourenço, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Pattern Recognition, 61, pp. 210-220, January, 2017

[4] Design and Experimental Validation of a USBL Underwater Acoustic Positioning System, Joel Reis , Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Sensors, Vol. 16, No. 9, September , 2016

[5] Simultaneous Localization and Mapping for Aerial Vehicles: a 3-D sensor-based GAS filter, Pedro Lourenço, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Autonomous Robots, Vol. 40, Issue 5, pp. 881–902, June, 2016

[6] Tightly Coupled Long Baseline / Ultra-short Baseline Integrated Navigation System, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Systems Science, vol. 41, no. 8, pp. 1837-1855, June, 2016 - PDF

[7] Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies, Daniel Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, International Journal of Robust and Nonlinear Control, Vol. 26, Issue 5, pp. 963–994, March , 2016

[8] On the stability of the continuous-time Kalman Filter subject to exponentially decaying perturbations, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Systems & Control Letters, Elsevier, Vol. 89, pp. 41–46, March, 2016

[9] Model-based filters for 3D positioning of marine mammals using AHRS- and GPS-equipped UAVs, Tiago Gaspar, Paulo Oliveira, Carlos Silvestre, IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, Issue 4, pp. 3307 - 3320, , 2015

[10] Navigation Systems based on Multiple Bearing Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, No.4, pp. 2887-2899, October , 2015

[11] Distributed state estimation for linear multi-agent systems with time-varying measurement topology, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen , Automatica, vol. 54, pp. 72-79, April, 2015 - PDF

[12] Sensor-based globally exponentially stable range-only simultaneous localization and mapping, Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen , Robotics and Autonomous Systems, vol. 68, pp. 72-85, June , 2015

[13] Design and Validation of an RGB-D Based Localization System – Integration in a Docking System, J. Barbosa , C. Cardeira , Paulo Oliveira, Pedro Batista, Carlos Silvestre, Journal of Intelligent & Robotic Systems, Volume 80, Issue 3, pp. 423-440, December , 2015

[14] A Two-step Control Approach for Docking of Autonomous Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Robust and Nonlinear Control, vol. 25, no. 10, pp. 1528-1547, July, 2015 - PDF

[15] Fault Detection and Isolation in Inertial Measurement Units Based on Bounding Sets, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Automatic Control, 60, No. 7, pp. 1933-1938, 2015

[16] Model-based H2 Adaptive Filter for 3D Positioning and Tracking Systems, Tiago Gaspar, Paulo Oliveira, Automatica, Elsevier, Vol. 50, No. 1, pp. 225–232, January. DOI: 10.1016/j.automatica.2013.10.001., 2014

[17] Position and Velocity Filters for ASC/I-AUV Tandems based on Single Range Measurements, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Journal of Intelligent & Robotic Systems, Vol. 74, Issue 3-4, pp. 745-768, June, 2014

[18] An Angular Approach for Range-Based Approximate Maximum Likelihood Source Localization Through Convex Relaxation, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Marco Stošić, Paulo Oliveira, IEEE Transactions on Wireless Communications, Vol. 13, No. 7, pp. 3951-3964, July. DOI:10.1109/TWC.2014.2314653, 2014

[19] A leader-following trajectory generator with application to quadrotor formation flight, Valter Roldao , Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Elsevier Robotics and Autonomous Systems, Vol. 62, No. 10, pp. 1597-1609, October, 2014

[20] Sensor-based Long Baseline Navigation: observability analysis and filter design, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Asian Journal of Control, vol. 16, no. 4, pp. 974-994, July, 2014

[21] Embedded Vehicle Dynamics Aiding for USBL/INS Underwater Navigation System, Marco Morgado, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, IEEE Transactions on Control Systems Technology, Vol. 22, No. 1, pp. 322-330, January , 2014 - PDF

[22] Automatic 2-D LiDAR Geometric Calibration of Installation Bias, Bruno J. N. Guerreiro, Carlos Silvestre, Paulo Oliveira, Elsevier Robotics and Autonomous Systems, 62, pp. 1116-1129. DOI:10.1016/j.robot.2014.05.001, 2014

[23] Tightly-coupled Ultra-Short Baseline and Inertial Navigation System for Underwater Vehicles: an Experimental Validation, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Journal of Field Robotics, Vol. 30, Issue 1, pp. 142-170, January / February, 2013 - PDF

[24] Globally Asymptotically Stable Sensor-based Simultaneous Localization and Mapping, Bruno J. N. Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Robotics, vol. 29, no.6, pp. 1380-1395, December, 2013 - PDF

[25] Globally exponentially stable filters for source localization and navigation aided by direction measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Systems & Control Letters, vol. 62, no. 11, pp. 1065-1072, November, 2013 - PDF

[26] Global Attitude and Gyro Bias Estimation Based on Set-Valued Observers, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, Elsevier Systems and Control Letters, Vol. 62, Issue 10, pp. 937-942, October, 2013 - PDF

[27] Nonlinear Attitude Observer Based on Range and Inertial Measurements, Sérgio Brás, Rita Cunha, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Control Systems Technology, Vol. 21, No. 5, pp. 1889-1897, September, 2013 - PDF

[28] A GES attitude observer with single vector observations, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Automatica, Vol. 48, No. 2, pp. 388395, 2012

[29] Attitude estimation for Intervention-AUVs working in Tandem with Autonomous Surface Crafts, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, European Journal of Control, vol. 18, no. 5, pp. 485-495, September-October, 2012

[30] Sensor-based Globally Asymptotically Stable Filters for Attitude Estimation: Analysis, Design, and Performance Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Automatic Control, vol. 57, no. 8, pp. 2095-2100, August, 2012

[31] Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies, D. Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Systems & Control Letters, vol. 61, no. 3, pp. 443-453, March, 2012

[32] Globally Exponentially Stable Cascade Observers for Attitude Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Control Engineering Practice, vol. 20, no. 2, pp. 148-155, February, 2012

[33] Maritime Traffic Monitoring Based on Vessel Detection, Tracking, State Estimation, and Trajectory Prediction, L. P. Perera , C. Guedes Soares , Paulo Oliveira, IEEE Transactions on Intelligent Transportation Systems, vol. 13, nº 3, pp. 1188-1200, September, 2012

[34] Single Pan and Tilt Camera Indoor Positioning and Tracking System, Paulo Oliveira, T. Gaspar , European Journal of Control, vol. 17, no 4, August, 2011

[35] A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame, José Vasconcelos, G. Elkaim , Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, IEEE Transactions on Aerospace and Electronics Systems, vol.47, no 2, pp.1293-1306, April, 2011

[36] Discrete-Time Complementary Filters for Attitude and Position Estimation: Design, Analysis and Experimental Validation, José Vasconcelos, Bruno Cardeira, Carlos Silvestre, Paulo Oliveira, Pedro Batista, IEEE Transactions on Control Systems Technology, vol. 19, no. 1, pp. 181-198, January, 2011

[37] Single Range Aided Navigation and Source Localization: observability and filter design, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Systems and Control Letters, Vol. 60, No. 8, pp. 665-673, 2011

[38] A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements, Sérgio Brás, Rita Cunha, Jose Vasconcelos , Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Robotics, Vol. 27, no. 4, pp. 664-677, August, 2011

[39] Vector-based Attitude Filter for Space Navigation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Journal of Intelligent & Robotic Systems, Vol. 64, No. 2, pp. 221-243, 2011

[40] Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, IEEE Transactions on Control Systems Technology, Vol. 19, No. 5, pp. 1128-1137, 2011

[41] INS/GPS Aided by Frequency Contents of Vector Observations with Application to Autonomous Surface Crafts, Paulo Oliveira, Carlos Silvestre, Jose Vasconcelos , IEEE Journal of Oceanic Engineering, Vol. 36, No 2, April, 2011

[42] Robust Localization of Nodes and Time-Recursive Tracking in Sensor Networks Using Noisy Range Measurements, P. Ekim , J. Gomes , João Xavier, Paulo Oliveira, IEEE Transactions on Signal Processing, vol. 59, no 8, pp. 3930-3942, August, 2011

[43] On the observability of linear motion quantities in navigation systems, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Systems & Control Letters, vol. 60, no. 2, pp. 101-110, February, 2011

[44] Combination of Lyapunov and Density Functions for Stability of Rotational Motion, José Vasconcelos, A. Rantzer , Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Automatic Control, Vol. 56, no. 11, pp. 2599-2607, November, 2011

[45] Partial Attitude and Rate Gyro Bias Estimation: Observability Analysis, Filter Design, and Performance Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Control, Volume 84, Issue 5, 2011

[46] Position USBL/DVL Sensor-Based Navigation Filter in the Presence of Unknown Ocean Currents, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Automatica, Vol. 47, Issue 12, pp. 2604-2614, December, 2011

[47] A nonlinear position and attitude observer on SE(3) using landmark measurements, Jose Vasconcelos , Rita Cunha, Carlos Silvestre, Paulo Oliveira, Systems and Control Letters, Vol.59, No. 3 - 4, pp. 155-166, March-April, 2010

[48] Embedded UAV model and LASER aiding techniques for inertial navigation systems, Jose Vasconcelos , Carlos Silvestre, Paulo Oliveira, Bruno J. N. Guerreiro, Control Engineering Practice, vol.18, no. 3, pp. 262-278, Elsevier, March, 2010

[49] A time differences of arrival-based homing strategy for autonomous underwater vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, International Journal of Robust and Nonlinear Control, vol. 20, no. 15, pp. 1758-1773, October , 2010

[50] Interpolation of Signals with Missing Data using Principal Component Analysis, Paulo Oliveira, L. Gomes , Multidimensional Systems and Signal Processing Journal, Springer, vol. 21, no1, pp. 25-43, DOI: 10.1007/s11045-009-0086-3, March, 2010

[51] Optimal Position and Velocity Navigation Filters for Autonomous Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Automatica, vol. 46, no. 4, pp. 767-774, April, 2010

[52] A Sensor-Based Controller for Homing of Underactuated AUVs, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Robotics, vol. 25, no. 3, pp. 701-716, June, 2009

[53] Position and Velocity Navigation Systems for Unmanned Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, IEEE Transactions on Control Systems Technology, vol. 17, no. 3, pp. 707-715, May, 2009 - PDF

[54] Stability and Performance-Robustness Tradeoffs: MIMO Mixed-mu vs Complex-mu Designs, Michael Athans, S. Fekriasl , José Vasconcelos, Carlos Silvestre, Paulo Oliveira, International Journal of Robust and Nonlinear Control, Vol. 19, No. 3, pp. 259-294, February, 2009 - PDF

[55] Study and Implementation of an EKF GIB-based Underwater Positioning System, Alex Alcocer, Paulo Oliveira, António Pascoal, IFAC Journal of Control Engineering Practice, Vol. 15, no. 6, pp. 689-701, Elsevier, 2007 - PDF

[56] MMAE Terrain Navigation for Underwater Vehicles using PCA, Paulo Oliveira, International Journal of Control, Vol. 80, No. 7, pp. 1008-1017, 2007

[57] Novos Instrumentos para a Inspeccao e Diagnostico de Quebra-mares de Taludes, J. Santos , António Pascoal, M. Neves , L. Silva , Carlos Silvestre, Paulo Oliveira, Luís Sebastião, Joao Alves, Tecnologia da agua, March, pp. 44-50, 2006 - PDF

[58] Compositional Abstractions of Hybrid Control Systems, G. J. Pappas , Pedro Lima, Paulo Oliveira, P. Tabuada , Journal of Discrete Event Dynamic Systems, Volume 14, Issue 2, 2004 - PDF

[59] Navigation System Design using Time-Varying Complementary Filters, António Pascoal, I. Kaminer , Paulo Oliveira, IEEE Trans. Aerospace and Electronic Systems, No. 4, pp. 1099-1114, 2000 - PDF

[60] Mission Control System of the MARIUS AUV: System design, implementation, and tests at sea, António Pascoal, Paulo Oliveira, Carlos Silvestre, V. Silva , International Journal of Systems Science, Vol.29, No 10, pp.1065-1080, October, 1998

[61] MARIUS: An Autonomous Underwater Vehicle for Coastal Oceanography, António Pascoal, Paulo Oliveira, Carlos Silvestre, A. Bjerrum , A. Ishoy , J. Paul Pignon , G. Ayela , C. Petzelt , IEEE Robotics and Automation Magazine, Special issue on Robotics and Automation in Europe: Projects funded by the Commission of the European Union, pp. 46-59, 1997 - PDF

[62] Navigation, guidance and control of AUVs: An application to the MARIUS vehicle, D. Fryxell , Paulo Oliveira, António Pascoal, Carlos Silvestre, I. Kaminer , Control Engineering Practice, Elsevier, Vol. 4, No. 3, pp. 401-409, March, 1996 - PDF

[63] Controlo Inteligente de Trafego para Redes de AGVs, Pedro Domingos , Paulo Oliveira, Revista Tecnica, 1991

[64] Linguagens de Programacao de Bracos Robot, João Sentieiro, R. Costa , João Sequeira, Paulo Oliveira, Revista de Informatica, Associacao Portuguesa de Informatica, 1987

[1] New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation, Pedro Lourenço, Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, In Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, T. I. Fossen, K. Y. Pettersen, H. Nijmeijer (Eds.), Springer, pp. 121-141, 2017

[2] Vehicle and Mission Control of Single Multiple Autonomous Marine Robots, Paulo Oliveira, Carlos Silvestre, António Pascoal, In Advances in Unmanned Marine Vehicles, IEE Contol Engineering Series, G. Roberts and R. Sutton (Eds), pp. 353-386, 2006 - PDF

[1] Relative Attitude Observers for Three-Platform Formations with Inertial Spread Observations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2016 - 55th IEEE Conference on Decision and Control, Las Vegas, Nevada USA, pp. 6266-6271, 2016

[2] Globally Convergent Relative Attitude Observers for Three-Platform Formations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2015 - 54th IEEE Conference on Decision and Control, Osaka, Japan, pp. 2146-2151, 2015

[3] Pseudo-Range Navigation with Clock Offset and Propagation Speed Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2015 - 54th IEEE Conference on Decision and Control, Osaka, Japan, pp. 7636-7641, 2015

[4] Towards Uncertainty Optimization in Active SLAM, Pedro Lourenco , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CDC 2015 - 54th IEEE Conference on Decision and Control, Osaka, Japan, pp. 3242-3247, 2015

[5] A Globally Exponentially Stable filter for Bearing-Only Simultaneous Localization and Mapping in 3-D, Pedro Lourenço, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Proc. of ECC 2015 - 14th Annual European Control Conference, Linz, Austria , 2015

[6] Simultaneous Localization and Mapping in Sensor Networks: a GES sensor-based filter with moving object tracking, Pedro Lourenço, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2015 - 14th Annual European Control Conference, Linz, Austria , 2015 - PDF

[7] Robust Outlier Detection and Classification for USBL Undewater Positioning Systems, Marco Morgado, Carlos Silvestre, Paulo Oliveira, Proc. of CONTROLO 2014 - 11th Portuguese Conference on Automatic Control, Porto, Portugal, 2014

[8] Implementation and Validation of a Docking System for Nonholonomical Vehicles,, J. Barbosa , C. Cardeira , Paulo Oliveira, Proc. of CONTROLO 2014 - 11th Portuguese Conference on Automatic Control, Porto, Portugal, 2014

[9] Design and Validation of a Linear Parameter Varying Localization System, J. Barbosa , C. Cardeira , Paulo Oliveira, Pedro Batista, Carlos Silvestre, Proc. of ICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, Espinho, Portugal, 2014

[10] Three Dimensional Trajectory Planner for Real Time Leader Following, P. Pereira , David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[11] Synchronization of two independently moving cameras without feature correspondences, Tiago Gaspar, P. Favaro , Paulo Oliveira, Proc. of ECCV 2014 - European Conference on Computer Vision, Zurich, 2014

[12] Trailer-Like Leader Following Trajectory Planning, P. Pereira , Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014

[13] Embedded Vehicle Dynamics Aiding for USBL/INS Underwater Navigation System, Marco Morgado, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014

[14] Nonlinear observability and observer design through state augmentation, Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CDC 2014 - 53rd IEEE Conference on Decision and Control, Los Angeles, USA, pp. 133-138, 2014

[15] Underwater Source Localization based on USBL measurements, Joel Reis, N. Carvalho , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CONTROLO 2014 - 11th Portuguese Conference on Automatic Control, Porto, Portugal, 2014

[16] Filter Design for Localization aided by Direction and Doppler Measurements, Joel Reis, Paulo Oliveira, Pedro Batista, Carlos Silvestre, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong , China, pp. 2957-2962, 2014

[17] Attitude and Earth Velocity Estimation – Part II: Observer on the Special Orthogonal Group, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2014 - 53rd IEEE Conference on Decision and Control, Los Angeles, USA, pp. 127-132, 2014

[18] Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping, P. Lourenco , Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen , Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, pp. 5692-569, 2013 - PDF

[19] GES Source Localization and Navigation based on Discrete-Time Bearing Measurement, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, pp. 5066-5071, 2013 - PDF

[20] 3-D Inertial Trajectory and Map Online Estimation: Building on a GAS Sensor-based SLAM filter, P. Lourenco , Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, pp. 4214-4219, 2013 - PDF

[21] GES Tightly Coupled Attitude Estimation based on a LBL/USBL Positioning System, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, pp. 2988-2993, 2013 - PDF

[22] GAS Tightly Coupled LBL/USBL Position and Velocity Filter for Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, pp. 2982-2987, 2013 - PDF

[23] GAS Decentralized Navigation Filters in a Continuous-Discrete Fixed Topology Framework, D. Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1286-1291, 2013 - PDF

[24] GES Source Localization based on Discrete-Time Position and Single Range Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1248-1253, 2013 - PDF

[25] Preliminary Results on the Estimation Performance of Single Range Source Localization, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 419-424, 2013 - PDF

[26] Further results on the observability in magneto-inertial navigation, Pedro Batista, N. Petit , Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, pp. 2509-2514, 2013 - PDF

[27] Nonlinear Observer for 3D Rigid Body Motion, Sérgio Brás, M. Izadi , Carlos Silvestre, A. Sanyal , Paulo Oliveira, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013 - PDF

[28] Experimental Validation of a Visual Odometry System for Indoor Unstructured Environments, F. Carreira , J. M. F. Calado , J. Rodrigues , C. Cardeira , Paulo Oliveira, Proc. of ICAR 2013 - 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013 - PDF

[29] A novel leader-following strategy applied to formations of quadrotors, V. Roldao , Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF

[30] A Received Signal Strenght Indication-based Localization System, P. Lourenco , Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen , Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Crete, Greece, pp. 1242-1247, 2013 - PDF

[31] Preliminary Results on Globally Asymptotically Stable Simultaneous Localization and Mapping in 3-D, P. Lourenco , Bruno J. N. Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, pp. 3093-3098, 2013 - PDF

[32] Decentralized linear state observers for vehicle formations with time-varying topologies, D. Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, pp. 65-70, 2013 - PDF

[33] A Bayesian Grid Method PCA-based for Mobile Robots Localization in Unstructured Environments, F. Carreira , C. Cardeira , J. M. F. Calado , Paulo Oliveira, Proc. of ICAR 2013 - 16th International Conference on Advanced Robotics, Montevideo, Uruguay, 2013 - PDF

[34] Enhanced PCA-Based Localization Using Depth Maps with Missing Data, F. Carreira , C. Cardeira , J. M. F. Calado , Paulo Oliveira, Proc. of ROBOTICA 2013 - 13th International Conference on Autonomous Robot Systems and Competitions, Lisboa, Portugal, 2013 - PDF

[35] RSS based Cooperation Sensor Network Localization with Unknown Transmit Power, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Paulo Oliveira, Proc. of the 21st Signal Processing and Communications Applications Conference (SIU), Haspolat, Turkey, 2013 - PDF

[36] LMI-based H 2 adaptive filtering for 3D positioning and tracking systems, Tiago Gaspar, Paulo Oliveira, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF

[37] TW-TOA based cooperative sensor network localization with unknown turn-around time, Pinar Oguz-Ekim, João Pedro Gomes, Paulo Oliveira, E. Strom , M. Gholami , Proc. of ICASSP 2013 - IEEE International Conference on Acoustics, Speech and Signal Processing, Vancouver, Canada , 2013

[38] Experimental Evaluation of Simultaneous 3D Localization of Sensor Nodes and Tracking Moving Targets, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Paulo Oliveira, Proc. of EUSIPCO 2012 - 20th European Signal Processing Conference, Bucharest, Romania, 2012 - PDF

[39] Sensor-based Simultaneous Localization and Mapping – Part I: GAS Robocentric Filter, Bruno J. N. Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 6352-6357, 2012

[40] Decentralized Range-based Linear Motion Estimation in Acyclic Vehicle Formations with Fixed Topologies, D. Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 6575-6580, 2012

[41] Position and Velocity Filters for Intervention AUVS based on Single Range and Depth Measurements, D. Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc.of ICRA 2012 - IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, pp. 4878-4883, 2012

[42] Attitude Filter for Intervention-AUVs working in Tandem with Autonomous Surface Craft, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, 2012

[43] GAS ocean current estimation with limited velocity readings, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of NGCUV 2012 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, 2012

[44] Set-Valued Observers for Attitude and Rate Gyros Bias Estimation, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Canada, 2012

[45] Globally Asymptotically Stable Filter for Navigation aided by Direction and Depth Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 6603-6609, 2012

[46] GES Integrated LBL/USBL Navigation System for Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, pp. 6609-6614, 2012

[47] A Two-Step Control Strategy for Docking of Autonomous Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 5395-5400, 2012

[48] Sensor-based Simultaneous Localization and Mapping – Part II: Online Inertial Map and Trajectory Estimation, Bruno J. N. Guerreiro, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2012 - American Control Conference, Montreal, Quebec, Canada, pp. 6334-6339, 2012

[49] Fault Detection and Isolation for Inertial Measurement Units, Sérgio Brás, Paulo Rosa, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012

[50] Integrated Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera, David Cabecinhas, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Rita Cunha, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012

[51] Quaternion Estimation for Attitude Determination Using Multiple L1 GPS Receivers, J. Coias , J. Sanguino , Paulo Oliveira, Proc. of Navitec 2012 - 6th ESA Workshop on Satellite Navigation Technologies, Noordwijk, Netherlands, 2012

[52] 2D PCA-based Localization for Mobile Robots in Unstructured Environments, F. Carreira , C. Christo , D. Valerio , M. Ramalho , C. Cardeira , J. Calado , Paulo Oliveira, Proc. of IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012

[53] Preliminary Results of Project MAST/AM: Advanced Tracking and Telemetry Methodologies to Study Marine Animals, Paulo Oliveira, Marco Morgado, Barbara Block , Carlos Silvestre, Karim Erzini , Andre Afonso , Fabio Hazin , Proc. of IEEE OCEANS 2011 Conference, Santander, Spain, 2011

[54] Optimal Attitude Estimation Using Set-Valued Observers, Paulo Oliveira, Carlos Silvestre, Sérgio Brás, Paulo Rosa, Proc. of CDC2011 - 50th IEEE Conference on Decision and Control, Atlanta, USA, 2011

[55] UAV-based Marine Mammals Positioning and Tracking System, Paulo Oliveira, Carlos Silvestre, Tiago Gaspar, Proc. of ICMA 2011 - IEEE International Conference on Mechatronics and Automation, Beijing, China, 2011

[56] A Closed-loop Design Methodology for Underwater Transducers Pulse-shaping, Paulo Oliveira, Marco Morgado, Carlos Silvestre, Proc. of ICMA 2011 - IEEE International Conference on Mechatronics and Automation, Beijing, China, 2011

[57] Monocular Depth from Focus Estimation with Complementary Filters, Paulo Oliveira, Tiago Gaspar, Proc. of ICRA 2011 - IEEE International Conference on Robotics and Automation, Shanghai, China, 2011

[58] Automatic LADAR Calibration Methods using Geometric Optimization, Paulo Oliveira, Carlos Silvestre, Bruno J. N. Guerreiro, Proc. of ICRA 2011 - IEEE International Conference on Robotics and Automation, Shanghai, China, 2011

[59] New Dynamic Estimation of Depth from Focus in Active Vision – Data acquisition, LPV design, analysis and test, Paulo Oliveira, Tiago Gaspar, Proc. of VISAPP - International Conference on Computer Vision Theory and Applications, Algarve, Portugal, 2011

[60] An Experimentally Evaluated Attitude Observer Based on Range and Inertial Measurements, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Jose Fernandes Vasconcelos , Rita Cunha, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[61] Depth Estimation in Active Monocular Vision Systems for Indoor 3D Tracking, Tiago Gaspar, Paulo Oliveira, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[62] Decentralized Linear Motion Estimators for AUV Formations with Fixed Topologies, D. Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[63] Online Model Identification for Set-Valued State Estimators with Discrete-Time Measurements, João Messias, Paulo Oliveira, Pedro Lima, Proc. of 18th IFAC World Congress, Milano, Italy, 2011

[64] Position and Velocity USBL/IMU Sensor-based Navigation Filter, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Marco Morgado, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[65] Globally Asymptotically Stable Filters for Source Localization and Navigation aided by Direction Measurements, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC - ECC 2011 - 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, USA, 2011

[66] GES Attitude Observers – Part II: Single Vector Observations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[67] GES Attitude Observers – Part I: Multiple General Vector Observations, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of 18th IFAC World Congress, Milan, Italy, 2011

[68] Dynamic Parameter Estimation of a Nonlinear Vessel Steering Model of Ocean Navigation, Lokukaluge Perera , Carlos Guedes Soares , Paulo Oliveira, Proc. of OMAE 2011 - 30th International Conference on Ocean, Offshore and Arctic Engineering, Roterdan, The Netherlands , 2011

[69] Collaborated and Constrained Neural-EKF Algorithm for the Vessel Traffic Monitoring and Information System, Lokukaluge Perera , Carlos Guedes Soares , Paulo Oliveira, Proc. of OMAE 2011 - 30th International Conference on Ocean, Offshore and Arctic Engineering, Roterdan, The Netherlands, 2011

[70] Linear Motion Observers for ASC/AUV Tandems based on Single Range Readings, Daniel Viegas , Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of ACC 2011 - American Control Conference, San Francisco, USA, 2011

[71] Computationally Efficient GES Cascade Observer for Attitude Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2011 - American Control Conference, San Francisco, USA, 2011

[72] Position USBL/DVL Sensor-Based Navigation Filter in the Presence of Unknown Ocean Currents, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010

[73] A Sensor-based Long Baseline Position and Velocity Navigation Filter for Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of NOLCOS 2010 - 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, 2010

[74] Single Beacon Navigation: Observability Analysis and Filter Design, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2010 - American Control Conference, Baltimore, Maryland, USA, 2010

[75] Experimental evaluation of a USBL underwater positioning system, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of the 52nd International Symposium ELMAR-2010, Zadar, Croacia, 2010

[76] Design and experimental evaluation of an integrated USBL/INS system for AUVs, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of ICRA 2010 - IEEE International Conference on Robotics and Automation, Anchorage, EUA, 2010

[77] Low-cost Attitude and Heading Reference System: Filter Design and Experimental Evaluation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, Proc of ICRA 2010 - International Conference on Robotics and Automation, Anchorage, USA, 2010

[78] Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements, Sérgio Brás, Rita Cunha, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Proc. of ACC 2010 - American Control Conference, Baltimore, Maryland, USA, 2010

[79] Estimation of Chaotic States Using Extended Kalman Filters, M. Almeida , Paulo Oliveira, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010

[80] USBL Positioning System: Implementation and Tests at Sea, J. Picao , Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of CONTROLO 2010 - 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010

[81] A convex relaxation for approximate maximum-likelihood 2D source localization from range measurements, Pinar Oguz-Ekim, João Pedro Gomes, João Xavier, Paulo Oliveira, Proc. of ICASSP 2010 - IEEE International Conference on Acoustics, Speech and Signal Processing, Dallas, Texas, USA, 2010

[82] Nonlinear Attitude Estimation Using Active Vision and Inertial Measurements, Carlos Silvestre, Sérgio Brás, Rita Cunha, José Vasconcelos, Paulo Oliveira, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF

[83] Combination of Primal and Dual Lyapunov Methods for Stability of Rotational Motion, José Vasconcelos, A. Rantzer , Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF

[84] Sensor-based Complementary Globally Asymptotically Stable Filters for Attitude Estimation, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF

[85] Joint Positioning and Navigation Aiding Systems for Multiple Underwater Robots, R. Sousa , Paulo Oliveira, T. Gaspar , Proc. of MCMC 2009 - 8th IFAC Conference on Manoeuvring and Control of Marine Craft, Guaruja, Brazil, 2009 - PDF

[86] Posterior Cramer-Rao bounds analysis for INS/USBL navigation systems, Marco Morgado, Paulo Oliveira, Carlos Silvestre, Proc. of MCMC 2009 - 8th IFAC Conference on Manoeuvring and Control of Marine Craft, Guaruja, Brazil (best student paper award), 2009 - PDF

[87] Stability of a Nonlinear Attitude Observer on SO(3) with Nonideal Angular Velocity Measurements, José Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF

[88] Single Pan and Tilt Camera Indoor Positioning and Tracking System, Paulo Oliveira, Tiago Gaspar, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF

[89] Single Range Navigation in the presence of Constant Unknown Drifts, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF

[90] Discrete Time-Varying Attitude Complementary Filter, Paulo Oliveira, José Vasconcelos, Pedro Batista, Carlos Silvestre, Bruno Cardeira, Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF

[91] A Single Pan and Tilt Camera Architecture for Indoor Positioning and Tracking, Paulo Oliveira, T. Gaspar , Proc. of VISAPP 2009 - The International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, Lisbon, Portugal, 2009 - PDF

[92] Position and Velocity Optimal Sensor-based Navigation Filters for UAVs, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF

[93] Necessary and sufficient conditions for the observability of linear motion quantities in strapdown navigation systems, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF

[94] Pose Observers for Unmanned Air Vehicles, Sérgio Brás, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2008 - PDF

[95] Underwater Vehicle Tracking Systems: Motion Models and performance analysis, Paulo Oliveira, Carlos Silvestre, P. Valverde , Proc. of CONTROLO 2008 - 8th Portuguese Conference on Automatic Control, Vila Real, Portugal, 2008

[96] Nonlinear and Geometric Optimization Methods for LADAR Calibration, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Bruno J. N. Guerreiro, Proc. ICRA 2008 - IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008

[97] A Landmark Based Nonlinear Observer for Attitude and Position Estimation with Bias Compensation, Paulo Oliveira, Rita Cunha, Carlos Silvestre, José Vasconcelos, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008

[98] A Dynamic Estimator on SE(3) Using Range-Only Measurements, Alex Alcocer, António Pascoal, Paulo Oliveira, Rita Cunha, Carlos Silvestre, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008

[99] Joint Positioning and Navigation Aiding System for Underwater Robots, Alex Alcocer, António Pascoal, Paulo Oliveira, Reza Ghabcheloo, R. Sousa , Proc. of MTS/IEEE OCEANS Conference, Quebec, Canada, 2008

[100] A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame, José Vasconcelos, G. Elkaim , Carlos Silvestre, Paulo Oliveira, Bruno Cardeira, Proc. NGCUV 2008 - IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, 2008

[101] A Nonlinear Observer for Rigid Body Attitude Estimation Using Vector Observations, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008

[102] A Nonlinear GPS/IMU Based Observer for Rigid Body Attitude and Position Estimation, Carlos Silvestre, José Vasconcelos, Paulo Oliveira, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008

[103] Position and Velocity Navigation Filters for Marine Vehicles, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of the 17th IFAC World Congress, Seoul, South Korea, 2008

[104] Vehicle Dynamics Aiding Technique for USBL/INS Underwater Navigation System, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Marco Morgado, Proc. of CAMS 2007- IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007 - PDF

[105] Observer Design for a Class of Kinematic Systems, Paulo Oliveira, Carlos Silvestre, Pedro Batista, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007

[106] Nonlinear Pose Estimation on SE(3), Paulo Oliveira, Rita Cunha, Carlos Silvestre, José Vasconcelos, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007

[107] Landmark Based Nonlinear Observer for Rigid Body Attitude and Position Estimation, Paulo Oliveira, Rita Cunha, Carlos Silvestre, José Vasconcelos, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007 - PDF

[108] Diffusion Based Trajectory Observers with Measurement Error Information, Alex Alcocer, António Pascoal, Paulo Oliveira, Proc. of CAMS 2007- IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007

[109] Nonlinear Observers for Tracking and Navigation of Marine Systems: Design Based on Motion Linearization, Paulo Oliveira, Proc. of CAMS 2007- IFAC Conference on Control Applications in Marine Systems, Bol, Croatia, 2007

[110] Maximum Likelihood Attitude and Position Estimation from Pseudo-Range Measurements using Geometric Descent Optimization, Alex Alcocer, Paulo Oliveira, António Pascoal, João Xavier, Proc. CDC'06 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF

[111] Vehicle and Mission Control of the DELFIM Autonomous Surface Craft, Joao Alves, Rodolfo Oliveira, Paulo Oliveira, António Pascoal, Manuel Rufino, Luís Sebastião, Carlos Silvestre, Proc. MED2006 - 14th Mediterranean Conference on Control and Automation, Ancona, Italy, 2006 - PDF

[112] Interpolation of Signals with Missing Data using PCA, Paulo Oliveira, Proc. ICASSP2006 - IEEE International Conference on Acoustics, Speech, and Signal Processing, Toulouse, France, 2006 - PDF

[113] USBL/INS Integration Technique for Underwater Vehicles, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Marco Morgado, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF

[114] Estimation of Attitude and Position from Range only Measurements using Geometric Descent Optimization on the Special Euclidean Group, Alex Alcocer, António Pascoal, Paulo Oliveira, João Xavier, Proc. FUSION2006 - 9th International Conference on Information Fusion, Florence, Italy, 2006 - PDF

[115] USBL/INS Tightly-Coupled Integration Technique for Underwater Vehicles, Paulo Oliveira, Carlos Silvestre, José Vasconcelos, Marco Morgado, Proc. FUSION2006 - 9th International Conference on Information Fusion, Florence, Italy, 2006 - PDF

[116] Underwater Acoustic Positioning Systems based on Buoys with GPS, Alex Alcocer, António Pascoal, Paulo Oliveira, Proc. ECUA2006 - 8th European Conference on Underwater Acoustics, Carvoeiro, Portugal, 2006 - PDF

[117] A Sensor Based Homing Strategy for Autonomous Underwater Vehicles, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Proc. MED2006 - 14th Mediterranean Conference on Control and Automation, Ancona, Italy, 2006 - PDF

[118] Embedded Vehicle Dynamics and LASER Aiding Techniques for Inertial Navigation Systems, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006 - PDF

[119] A 2D Sensor Based Control Law for Homing of AUVs in the Horizontal Plane, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006 - PDF

[120] A 2D Homing Strategy for Autonomous Underwater Vehicles, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Vehicles, Lisbon, Portugal, 2006 - PDF

[121] A Quaternion Sensor Based Controller for Homing of Underactuated AUVs, Pedro Batista, Carlos Silvestre, Paulo Oliveira, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF

[122] Uncertainty vs Performance Tradeoffs in Robust Feedback Control: A MIMO Case Study, José Vasconcelos, Michael Athans, Sajjad Fekri, Carlos Silvestre, Paulo Oliveira, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF

[123] A Nonlinear Filter for range-only Attitude and Position Estimation, Alex Alcocer, Paulo Oliveira, António Pascoal, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Craft, Lisbon, Portugal, 2006 - PDF

[124] Terrain based Navigation Tools for Underwater Vehicles using Eigen Analysis, Paulo Oliveira, Proc. of 16th IFAC World Congress, Prague, Czech republic, 2005

[125] PCA Positioning Sensor Characterization for Terrain Based Navigation of UVs, Paulo Oliveira, Proc. of IbPRIA2005 - 2nd Iberian Conference on Pattern Recognition and Image Analysis, Estoril, Portugal, 2005

[126] Inertial Navigation System Aided by GPS and Selective Frequency Contents of Vector Measurements, José Vasconcelos, Paulo Oliveira, Carlos Silvestre, AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, USA, 2005 - PDF

[127] MMAE Terrain Reference Navigation for Underwater Vehicles using Eigen Analysis, Paulo Oliveira, Proc. of CDC-ECC2005 - 44th IEEE Conference on Decision and Control and European Control Conference, Seville, Spain, 2005

[128] Novos Instrumentos para a Inspeccao e Diagnostico de Quebra-mares de Taludes, J. Santos , M. Neves , L. Silva , Carlos Silvestre, Paulo Oliveira, Luís Sebastião, Porfírio Silva, 4ªs Jornadas Portuguesas de Engenharia Costeira e Portuaria, Angra do Heroismo, Portugal, 2005

[129] GPS aided IMU for Unmanned Air Vehicles, José Vasconcelos, J. Calvario , Paulo Oliveira, Carlos Silvestre, IAV 2004 - 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 - PDF

[130] Study and Implementation of an EKF GIB-based Underwater Positioning System, Alex Alcocer, Paulo Oliveira, António Pascoal, Proc. of CAMS 2004 - IFAC Conference on Control Applications in Marine Systems, Ancona, Italy, 2004 - PDF

[131] Extreme Ecosystem Studies in the Deep Ocean -Technological Developments: The EXOCET/D Project FP6-GOCE-CT-2003-505342, P. M. Sarradin , J. Sarrazin , J.F. Cadiou , K. Olu , D. Desbruyeres , V. Rigaud , J. F. Drogou , F. Lecornu , J. F. Rolin , R. Vuillemin , M. A. Cambon-Bonavita , E. Sauter , K. von Juterzenka , A. Boetius , R. Serrao Santos , A. Colaco , António Pascoal, Paulo Oliveira, B. Shillito , F. Zal , A. Schultz , P. Taylor , D. Lane , Robert Loke, Hans Du Buf, C. Waldmann , A. Cormack , L. Sanfilippo , M. Masson , Proc. of the 14th International Offshore and Polar Engineering Conference, Toulon, France, Vol. 1, pp. 738-746, 2004

[132] Inspection and Diagnosis of Sines West Breakwater, Carlos Silvestre, Paulo Oliveira, António Pascoal, Luís Sebastião, Joao Alves, A. Santos , L. Silva , M. Neves , ICCE'04 - 29th International Conference on Coastal Enginnering, LisboN, Portugal, 2004 - PDF

[133] On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), Paulo Oliveira, António Pascoal, Proc. IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003

[134] On the Design of Multirate Complementary Filters for Autonomous Marine Vehicle Navigation, Paulo Oliveira, António Pascoal, Proc. GCUV2003 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, Inglaterra, 2003 - PDF

[135] Tools for the diagnosis and automated inspection of semi-submerged structures, L. Silva , J. Santos , M. Neves , Carlos Silvestre, Paulo Oliveira, António Pascoal, Proc. 13th International Harbour Congress, Antwerpen, Belgium, 2003

[136] Ferramentas de Inspeccao e Diagnostico de Obras de Proteccao Portuaria, L. Silva , J. Santos , M. Neves , Carlos Silvestre, Paulo Oliveira, António Pascoal, 2ª Jornadas Portuguesas de Engenharia Costeira e Portuaria, Sines, Portugal, 2003

[137] A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Paulo Oliveira, António Pascoal, I. Kaminer , Conferencia MED 2002, Lisboa, Portugal, 2002 - PDF

[138] A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Paulo Oliveira, António Pascoal, I. Kaminer , Proc. 15th IFAC World Congress, Barcelona, Spain, 2002 - PDF

[139] Remote sensing at D. Joao de Castro bank: tools for biology and conservation studies, R. S. Santos , António Pascoal, P. Dando , F. Cardigos , F. Tempera , Paulo Oliveira, Carlos Silvestre, M. Cardew , 5th SOC2001, Southampton, 2001 - PDF

[140] Robotic Ocean Vehicles for Marine Science Applications: the European ASIMOV Project, António Pascoal, Paulo Oliveira, Carlos Silvestre, Luís Sebastião, Manuel Rufino, Victor Barroso, João Pedro Gomes, G. Ayela , P. Coince , M. Cardew , A. Ryan , H. Braithwaite , N. Cardew , J. Trepte , N. Seube , J. Champeau , P. Dhaussy , V. Sauce , R. Moitie , R. S. Santos , F. Cardigos , M. Brussieux , P. Dando , Proc. OCEANS 2000 MTS /IEEE, pp.409-415, Providence, Rhode Island, USA, 2000 - PDF

[141] Advanced System Integration for Managing the Coordinated Operation of Robotic Ocean Vehicles, António Pascoal, Paulo Oliveira, Carlos Silvestre, Luís Sebastião, Manuel Rufino, Victor Barroso, João Pedro Gomes, Gerard Ayela , Pascal Coince , Marcus Cardew , Anne Ryan , Hugh Braithwaite , Nicholas Cardew , Jonathan Trepte , Nicolas Seube , J. Champeau , P. Dhaussy , V. Sauce , R. Moitie , Ricardo Santos , Frederico Cardigos , Marc Brussieux , Paul Dando , Proc. EurOCEAN 2000, Hamburg, Germany, 2000

[142] Navigation System Design Using Time-Varying Complementary Filters, António Pascoal, I. Kaminer , Paulo Oliveira, Proc. AIAA Conference on Guidance, Navigation and Control, Portland, Oregon, 1999 - PDF

[143] Internet mission control of the ROMEO Unmanned Underwater Vehicle using the CORAL Mission Control, G. Bruzzone , R. Bono , M. Caccia , G. Veruggio , C. Ferreira , Carlos Silvestre, Paulo Oliveira, António Pascoal, OCEANS 1999 MTS/IEEE, pp. 1081-1087, vol. 3, Seatle, EUA, 1999 - PDF

[144] The use of “CARAVELA 2000” vehicles in operational oceanography, T. Alves , António Pascoal, A. Pereira , J. Rodeia , A. Simoes , M. Juliano , R. Duarte , Carlos Silvestre, Paulo Oliveira, Luís Sebastião, A. Jorge , R. Araujo , 2nd Eurogoos Conference 1999, Roma, Italia, 1999 - PDF

[145] Control of the SIRENE Underwater Shuttle: System Design and Tests at Sea, Carlos Silvestre, António Pascoal, Paulo Oliveira, P. Aguiar , Proc. 17th International Conference on Offshore Mechanics and Artic Engineering (OMAE'98-Conference), Lisbon, Portugal, 1998 - PDF

[146] Navigation System Design using Time-Varying Complementary Filters, António Pascoal, I. Kaminer , Paulo Oliveira, Proc. IEEE International Conference on Control Applications, pp. 1099 -1104 vol.2, Trieste, Italy, 1998 - PDF

[147] Guidance and Control of the SIRENE Underwater Vehicle: from System Design to Tests at Sea, Paulo Oliveira, Carlos Silvestre, P. Aguiar , António Pascoal, Proc. OCEANS'98 Conference, Nice, France, 1998 - PDF

[148] Navigation System Design: an Application of Multi-Rate Filtering Theory, Paulo Oliveira, António Pascoal, Proc. OCEANS'98 Conference, pp. 1348-1353, vol. 3, Nice, France, 1998 - PDF

[149] Vehicle and Mission Control of the SIRENE Underwater Shuttle, Paulo Oliveira, Carlos Silvestre, António Pascoal, A. Aguiar , Proc. IFAC Conference on Control Applications in Marine Systems (CAMS'98), Fukuoka, Japan, 1998 - PDF

[150] DESIBEL: the SIRENE Free Swimming Vehicle for the Management of Benthic Stations, V. Rigaud , D. Semac , M. Drogou , J. Obderdecke , C. Marfia , António Pascoal, Paulo Oliveira, Carlos Silvestre, Proc. 1st IARP International Workshop on Autonomous Underwater Vehicles for Shallow Waters and Coastal Environments, University of Southern Louisiana, Lafayette, Louisiana, 1998

[151] Control of the SIRENE Underwater Shuttle: System Design and Tests at Sea, Carlos Silvestre, A. Aguiar , P. Aguiar , Paulo Oliveira, António Pascoal, Proc. CONTROLO'98, Coimbra, Portugal, 1998 - PDF

[152] Navigation, Guidance and Control of AUVs: An Application to the MARIUS Vehicle, D. Fryxell , Paulo Oliveira, António Pascoal, Carlos Silvestre, I. Kaminer , Artigo convidado para ser apresentado no Control Applications in Marine Systems CAMS'95, Trondheim, Noruega, 1996 - PDF

[153] Strategic Level Mission Control – An Evaluation of CORAL and PROLOG Implementations for Mission Control Specifications, A. Healey , D. Marco , Paulo Oliveira, António Pascoal, Carlos Silvestre, V. Silva , Proc. IARP Workshop on Subsea Robotics, Toulon, 1996

[154] Design, Development and Testing of a Mission Control System for the MARIUS AUV, Paulo Oliveira, António Pascoal, Carlos Silvestre, V. Silva , Proc. IARP Workshop on Subsea Robotics, Toulon, 1996

[155] On the Design and Development of Mission Control Systems for Autonomous Underwater Vehicles: An Application to the MARIUS AUV, Paulo Oliveira, António Pascoal, Carlos Silvestre, V. Silva , Proc. 2nd World Automation Congress, Motpellier, France, 1996

[156] Design, Development and Testing at Sea of the Mission Control System for the MARIUS Autonomous Underwater Vehicle, Paulo Oliveira, António Pascoal, V. Silva , Carlos Silvestre, Proceedings of the Oceans 96 Conference, pp. 401-406, Fort Lauderdale, Florida, EUA, 1996 - PDF

[157] Design and Implementation of a Trajectory Tracking Controller for an Autonomous Underwater Vehicle (AUV), Carlos Silvestre, Paulo Oliveira, António Pascoal, D. Fryxell , I. Kaminer , American Control Conference ACC95, pp. 2975-2979, Seattle, EUA, 1995 - PDF

[158] Undersea Robotics Research at IST: The AUV MARIUS Programme, António Pascoal, Carlos Silvestre, Paulo Oliveira, V. Silva , Proc. Undersea Robotics and Intelligent Control Workshop, Lisboa, Portugal, 1995

[159] An Integrated Approach to the Design and Analysis of Navigation Guidance and Control Systems for AUVs, Carlos Silvestre, Paulo Oliveira, D. Fryxell , António Pascoal, Colloquium on Control and Guidance of Remotely Operated Vehicles, London, UK, 1995 - PDF

[160] Integrated Design of Navigation, Guidance and Control Systems for Unmanned Underwater Vehicles, D. Fryxell , Paulo Oliveira, António Pascoal, Carlos Silvestre, OCEANS 94 MTS/IEEE, pp. III/105 -III/110 vol.3, Brest, Franca, 1994 - PDF

[161] Design of a Mission Management System for the Autonomous Underwater Vehicle MARIUS, C. Bizingre , Paulo Oliveira, António Pascoal, F. Pereira , J-P. Pignon , E. Silva , Carlos Silvestre, J. Sousa , Symposium on Autonomous Underwater Vehicle Technology, pp.112-121, Cambridge, EUA, 1994 - PDF

[162] An Integrated Approach to the Design and Analysis of Navigation Guidance and Control Systems for AUVs, D. Fryxell , Paulo Oliveira, António Pascoal, Carlos Silvestre, Symposium on Autonomous Underwater Vehicle Technology, pp.208-217, Cambridge, EUA, 1994 - PDF

[163] Fuzzy Logic Steering Controller for a Guided Vehicle, F. Cardoso , F. Fontes , C. Pais , Paulo Oliveira, Isabel Ribeiro, Proceedings of the 7th Mediterranean Electrotechnical Conference, MELECON'94, pp.711-714, Turkey, 1994 - PDF

[164] Logica Difusa Aplicada a navegacao de um Veiculo Autonomo, F. Cardoso , F. Fontes , C. Pais , Paulo Oliveira, Isabel Ribeiro, IV Jornadas de Projecto, Planeamento e Producao Assistidas por Computador PPAPOP, Lisboa, 1993

[165] Selection of Controller Parameters using Genetic Algorithms, Paulo Oliveira, João Sequeira, João Sentieiro, The European Robotics and Intelligent Systems Conference, Corfu, Grecia, 1992 - PDF

[166] Simulation Study of an Integrated Guidance System for an Autonomous Underwater Vehicle, António Pascoal, Victor Barroso, Carlos Silvestre, Paulo Oliveira, Isabel Lourtie, Acoustic Signal Processing for Ocean Exploration, Funchal, Portugal, 1992

[167] Fuzzy Supervision on Intelligent Control Systems, Paulo Oliveira, Pedro Lima, João Sentieiro, 1st European Control Conference, Grenoble, France, 1991

[168] The Architecture of a Knowledge Based Controller for the Operation of Glass Melting Furnaces, Pedro Lima, Paulo Oliveira, Carlos Pinto-Ferreira, João Sentieiro, IFAC Workshop on Computer Software Structures Integrating AI/KBS Systems in Process Control, Bergen, Suecia, 1991 - PDF

[169] Fuzzy Supervision of Direct Controllers, Paulo Oliveira, Pedro Lima, João Sentieiro, 5th IEEE Conference on Intelligent Control, pp. 638-643, Philadelphia, USA, 1990 - PDF

[170] An Architecture for the Supervision of Fuzzy Controllers, Paulo Oliveira, Pedro Lima, João Sentieiro, R. Bravo , R. Galan , A. Jimenez , IEEE International Workshop on Intelligent Robots and Systems, pp. 919-924, vol. 2, Tsuchiura, Japan, 1990 - PDF

[1] Supervisao de Controladores, Paulo Oliveira, Tese de Mestrado, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, 1991 - PDF

[1] Maximum Likelihood Attitude and Position Estimation from Pseudo-Range Measurements using Geometric Descent Optimization, Alex Alcocer, Paulo Oliveira, António Pascoal, João Xavier, ISR Technical Report, 2006 - PDF

[2] Interpolation of Signals with Missing Data using PCA, Paulo Oliveira, ISR Technical Report, 2005 - PDF

[3] Inertial Navigation System Aided by GPS and Selective Frequency Contents of Vector Measurements, José Vasconcelos, Paulo Oliveira, Carlos Silvestre, ISR Technical Report, 2005 - PDF

[4] Outlier Detection in an Acoustic-based Positioning System for Autonomous Underwater Vehicles, Alex Alcocer, Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report, 2004

[5] High Accuracy Data Acquisition Architectures for Inertial Navigation Systems, Bruno Cardeira, Carlos Silvestre, Paulo Oliveira, DSORL-ISR Technical Report, 2004

[6] Terrain based Navigation Tools for Underwater Vehicles using Eigen Analysis, Paulo Oliveira, ISR Technical Report, 2004

[7] PCA Positioning Sensor Characterization for Terrain Based Navigation of UVs, Paulo Oliveira, ISR Technical Report, 2004

[8] The work of IST in the scope of the EXOCET/D project: a Summary, António Pascoal, Carlos Silvestre, Paulo Oliveira, Luís Sebastião, EXOCET/D Report EXOCET.INT01.2004, Instituto Superior Tecnico, 2004

[9] GPS Aided IMU for Unmanned Air Vehicles, José Vasconcelos, J. Calvario , Paulo Oliveira, Carlos Silvestre, DSORL-ISR Technical Report, 2003 - PDF

[10] Study and Implementation of an Acoustic-Based Positioning System for Autonomous Underwater Vehicles, Alex Alcocer, Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report, 2003

[11] On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report, 2002

[12] Vehicle and Mission Control of the DELFIM Autonomous Surface Craft, Joao Alves, Paulo Oliveira, António Pascoal, Manuel Rufino, Luís Sebastião, Carlos Silvestre, DSORL-ISR Technical Report, 2002 - PDF

[13] Periodic and Multirate Filter Design using LMIs, Paulo Oliveira, António Pascoal, DSORL-ISR Technical Report. To be submitted for publication, 2001

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