Pedro Batista

Faculty

Position: Assistant Professor (IST)

Dynamical Systems and Ocean Robotics Lab (DSOR)

tp.aobsilu.ocincet.rsi@atsitabp

Phone :+351-218418056

Office: 8.13

Personal Page

P. Batista received the Licenciatura and the PhD degrees in Electrical and Computer Engineering from Instituto Superior Técnico / Technical University of Lisbon (IST/UTL), in 2005 and 2010, respectively. From 2010 to 2011 he held a post-doctoral fellowship at the Institute for Systems and Robotics / Instituto Superior Técnico (ISR/IST), where he become an Assistant Researcher/Invited Assistant Professor in 2012. Since 2016 he is Assistant Professor with the Department of Electrical and Computer Engineering at Instituto Superior Técnico. P. Batista is actively involved in teaching and research activities, including student supervision and participation in national and international projects. His current research interests include nonlinear control, sensor-based control, and sensor-based estimation with application to control and navigation of autonomous vehicles.

Journal Papers

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

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

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

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

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

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

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

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

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

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

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

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

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

[14] Pedro Batista, Long Baseline Navigation with Clock Offset Estimation and Discrete-Time Measurements, Control Engineering Practice, Vol. 35, February, pp. 43–53, 2015

[15] Pedro Batista, GES Long Baseline Navigation with Unknown Sound Velocity and Discrete-time Range Measurements, IEEE Transactions on Control Systems Technology, Vol. 23, Issue 1, pp. 219-230, 2015

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Book Chapters

[36] Pedro Lourenço, Bruno Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation, 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

Conference Papers

[37] Pedro Batista, N. Petit, Carlos Silvestre, Paulo Oliveira, Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations, Proc. of the 20th IFAC World Congress, Toulouse, France, pp. 3661-3668, 2017

[38] Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Discrete-time distributed Kalman filter design for multi-vehicle systems, Proc. of ACC 2017 - American Control Conference, Seattle, Washington, USA, pp. 5538-5543, 2017

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

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

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

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

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

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

[45] Pedro Batista, Carlos Silvestre, Paulo Oliveira, Attitude and Earth Velocity Estimation – Part I: Globally Exponentially Stable Observer, Proc. of CDC 2014 - 53rd IEEE Conference on Decision and Control, Los Angeles, USA, pp. 127-132, 2014

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

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

[48] Pedro Batista, GES Long Baseline Navigation with Clock Offset Estimation, Proc. of ECC 2014 - European Control Conference, Strasbourg, France, pp. 3011-3016., 2014

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

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

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

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

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

[54] Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen, A Received Signal Strength Indication-based Localization System, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Chania, Greece, 2013 - PDF

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

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

[57] Pedro Batista, GES Long Baseline Navigation with Unknown Sound Velocity and Discrete-time Range Measurements, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, pp. 6176-6181, 2013 - PDF

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[90] Pedro Batista, Low-cost Sensor-based Integrated Attitude Filter for Space Applications, Proc. of the 2009 AIAA Guidance, Navigation and Control Conference and Exhibit, Chicago, USA - AIAA GNC Graduate Student Paper Competition Finalist, 2009

[91] Pedro Batista, Carlos Silvestre, Paulo Oliveira, Optimal Position and Velocity Navigation Filters with Discrete-Time Delayed Measurements, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, pp. 1320-1325, 2008

[92] Pedro Batista, Carlos Silvestre, Paulo Oliveira, Kalman and H-infinity Optimal Filtering for a Class of Kinematic Systems, Proc. of 17th IFAC World Congress, Seoul, South Korea, July 2008, pp. 12528-12533, 2008

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

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

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

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

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

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

PhD Theses

[99] Pedro Batista, Sensor-based Navigation and Control of Autonomous Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, June, 2010

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

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

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

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

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

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

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

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

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

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

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

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

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

[14] Pedro Batista, Long Baseline Navigation with Clock Offset Estimation and Discrete-Time Measurements, Control Engineering Practice, Vol. 35, February, pp. 43–53, 2015

[15] Pedro Batista, GES Long Baseline Navigation with Unknown Sound Velocity and Discrete-time Range Measurements, IEEE Transactions on Control Systems Technology, Vol. 23, Issue 1, pp. 219-230, 2015

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[1] Pedro Lourenço, Bruno Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation, 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

[1] Pedro Batista, N. Petit , Carlos Silvestre, Paulo Oliveira, Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations, Proc. of the 20th IFAC World Congress, Toulouse, France, pp. 3661-3668, 2017

[2] Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, Discrete-time distributed Kalman filter design for multi-vehicle systems, Proc. of ACC 2017 - American Control Conference, Seattle, Washington, USA, pp. 5538-5543, 2017

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

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

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

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

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

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

[9] Pedro Batista, Carlos Silvestre, Paulo Oliveira, Attitude and Earth Velocity Estimation – Part I: Globally Exponentially Stable Observer, Proc. of CDC 2014 - 53rd IEEE Conference on Decision and Control, Los Angeles, USA, pp. 127-132, 2014

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

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

[12] Pedro Batista, GES Long Baseline Navigation with Clock Offset Estimation, Proc. of ECC 2014 - European Control Conference, Strasbourg, France, pp. 3011-3016., 2014

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

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

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

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

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

[18] Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, P. Chen , A Received Signal Strength Indication-based Localization System, Proc. of MED 2013 - 21st Mediterranean Conference on Control and Automation, Chania, Greece, 2013 - PDF

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

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

[21] Pedro Batista, GES Long Baseline Navigation with Unknown Sound Velocity and Discrete-time Range Measurements, Proc. of CDC 2013 - 52nd IEEE Conference on Decision and Control, Florence, Italy, pp. 6176-6181, 2013 - PDF

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[54] Pedro Batista, Low-cost Sensor-based Integrated Attitude Filter for Space Applications, Proc. of the 2009 AIAA Guidance, Navigation and Control Conference and Exhibit, Chicago, USA - AIAA GNC Graduate Student Paper Competition Finalist, 2009

[55] Pedro Batista, Carlos Silvestre, Paulo Oliveira, Optimal Position and Velocity Navigation Filters with Discrete-Time Delayed Measurements, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, pp. 1320-1325, 2008

[56] Pedro Batista, Carlos Silvestre, Paulo Oliveira, Kalman and H-infinity Optimal Filtering for a Class of Kinematic Systems, Proc. of 17th IFAC World Congress, Seoul, South Korea, July 2008, pp. 12528-12533, 2008

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

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

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

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

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

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

[1] Pedro Batista, Sensor-based Navigation and Control of Autonomous Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, June, 2010

In the same group

Pedro Abreu
João Almeida
Filipa Almeida
Pu Bai
DuarteAlves
Pedro Batista
João Botelho
Sérgio Brás
David Cabecinhas
Pedro Casau
Naveena Crasta
Rita Cunha
Pedro Góis
Bruno Gomes
Alexandre Gomes
Bruno Guerreiro
Pedro Lourenço
Pramod Maurya
Paulo Oliveira
João Paquim
António Pascoal
Mohammad Ghorbani Poshtmashhadi
Joao Quintas
Francisco Rego
Jorge Ribeiro
Miguel Ribeiro
Manuel Rufino
Luís Sebastião
Pedro Serra
Henrique Silva
Carlos Silvestre
Daniel Silvestre
Jorge Soares
Francisco Curado
José Tojeira
Daniel Viegas