Rita Cunha

Rita Cunha

Research Fellow

Position: Post-Doc Researcher

Dynamical Systems and Ocean Robotics Lab (DSOR)

tp.aobsilu.ocincet.rsi@atir

Phone :+351-218418090

Office: 8.19

Current Projects

Closed Projects

Acronym Name Funding Dates
CARAVELA Development of a Long Range Autonomous Oceanographic Vessel 1998|2003
SCARVE Sensor-based Control of Aerial Robotic Vehicles FCT 2010-04|2013-03

Journal Papers

[1] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas, LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures, IEEE Transactions in Control Systems Technology (online), 2017
[2] David Cabecinhas, R. Naldi, Carlos Silvestre, Rita Cunha, L. Marconi, Robust landing and sliding maneuver hybrid controller for a quadrotor vehicle, IEEE Transactions on Control Systems Technology, Vol. 24, No. 2, pp. 400 - 412, March, 2016
[3] Pedro Casau, R. G. Sanfelice, Rita Cunha, Carlos Silvestre, A Globally Asymptotically Stabilizing Trajectory Tracking Controller for Fully Actuated Rigid Bodies using Landmark-based Information, International Journal of Robust and Nonlinear Control, Vol. 25, Issue 18, pp. 3617–3640, December, 2015
[4] Pedro Casau, R. G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, Robust Global Trajectory Tracking for a Class of Underactuated Vehicles, Automatica, Elsevier, Vol. 58, Issue 8, pp. 90-98, August , 2015 - PDF
[5] David Cabecinhas, Rita Cunha, Carlos Silvestre, A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection, IEEE Transactions on Control Systems Technology, Vol. 23, N0. 2, pp. 708-714, 2015
[6] Pedro Serra, Rita Cunha, T. Hamel, Carlos Silvestre, F. Le Bras, Nonlinear Image-Based Visual Servo Controller for the Flare Manoeuvre of Fixed-Wing Aircraft using Optical Flow, IEEE Transactions on Control Systems Technology, Vol. 23, N0. 2, pp. 570-583, 2015
[7] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, António Pascoal, Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft, IEEE Transactions on Control Systems Technology, Vol. 22, No. 6, pp. 2160-2175, November, 2014
[8] David Cabecinhas, Rita Cunha, Carlos Silvestre, A nonlinear quadrotor trajectory tracking controller with disturbance rejection, Elsevier Control Engineering Practice, Vol. 21, No. 3, pp. 242-252, May, 2014
[9] Valter Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, A leader-following trajectory generator with application to quadrotor formation flight, Elsevier Robotics and Autonomous Systems, Vol. 62, No. 10, pp. 1597-1609, October, 2014
[10] Sérgio Brás, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Nonlinear Attitude Observer Based on Range and Inertial Measurements, IEEE Transactions on Control Systems Technology, Vol. 21, No. 5, pp. 1889-1897, September, 2013 - PDF
[11] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, Terrain Avoidance Nonlinear Model Predictive Control for Autonomous Rotorcraft, Journal of Intelligent & Robotic Systems, Volume 68, Issue 1, pages: 69-85, September, 2012
[12] David Cabecinhas, R. Naldi, L. Marconi, Carlos Silvestre, Rita Cunha, Robust Take-off for a Quadrotor Vehicle, IEEE Transactions on Robotics, Vol. 28 , Issue 3, pp. 734 742, June, 2012
[13] Rita Cunha, Joao Hespanha, Carlos Silvestre, Antonio Pedro Aguiar, Vision-based control for rigid body stabilization, Automatica, Vol.47, No 5, pp.1020-1027, May, 2011
[14] Sérgio Brás, Rita Cunha, Jose Vasconcelos, Carlos Silvestre, Paulo Oliveira, A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements, IEEE Transactions on Robotics, Vol. 27, no. 4, pp. 664-677, August, 2011
[15] Duarte Antunes, Carlos Silvestre, Rita Cunha, On the Design of Multi-rate Tracking Controllers: An Application to Rotorcraft Guidance and Control, International Journal of Robust and Nonlinear Control, Vol. 20, No.16, pp. 1879-1902, November, 2010
[16] Jose Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, A nonlinear position and attitude observer on SE(3) using landmark measurements, Systems and Control Letters, Vol.59, No. 3 - 4, pp. 155-166, March-April, 2010
[17] Carlos Silvestre, Rita Cunha, N. Paulino, António Pascoal, A Bottom-Following Preview Controller for Autonomous Underwater Vehicles, IEEE Transaction on Control Systems Technology, vol. 17, no. 2, pp. 257 - 266, March, 2009
[18] Carlos Silvestre, Output-feedback control for almost global stabilization of fully-actuated rigid bodies, Elsevier Systems and Control Letters, Vol. 58, Issue 9, pp. 639-645, September, 2008
[19] J. Hespanha, Output-feedback control for stabilization on SE(3), Elsevier Systems and Control Letters, Vol. 57, Issue 12, pp. 1013-1022, December, 2008
[20] N. Paulino, Affine Parameter-Dependent Preview Control for Rotorcraft Terrain Following Flight, AIAA Journal of Guidance, Control and Dynamics, Vol. 29, No. 6, pp. 1350-1359, November-December, 2006 - PDF

Conference Papers

[21] Alexandre Gomes, Bruno Guerreiro, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Sensor-based 3-D pose estimation and control of rotary-wing UAVs using a 2-D LiDAR, Proc. of Robot 2017 - 3rd Iberian Robotics Conference, Sevilla, Spain, 2017
[22] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, LiDAR-based Control of Autonomous Rotorcraft for Inspection of Pole-Shaped Structures, Proc. of ROBOT 2015 - 2nd Iberian Robotics Conference, Lisbon, Portugal, 2015
[23] David Cabecinhas, Rita Cunha, Carlos Silvestre, A Robust Landing and Sliding Maneuver Controller for a Quadrotor Vehicle on a Sloped Incline, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014
[24] P. Pereira, David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Three Dimensional Trajectory Planner for Real Time Leader Following, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014
[25] Pedro Casau, R. G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, A Hybrid Feedback Controller for Robust Global Trajectory Tracking of Quadrotor-like Vehicles with Minimized Attitude Error, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014
[26] David Cabecinhas, Carlos Silvestre, Rita Cunha, A Nonlinear Quadrotor Trajectory Tracking Controller with Disturbance Rejection, Proc. of ACC 2014 - American Control Conference, Portland, OR, USA, 2014
[27] Pedro Serra, Rita Cunha, T. Hamel, David Cabecinhas, Carlos Silvestre, Landing on a Moving Target using Image-Based Visual Servo Control, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014
[28] P. Pereira, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Trailer-Like Leader Following Trajectory Planning, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014
[29] Daniel Silvestre, Paulo Rosa, Rita Cunha, J. P. Hespanha, Carlos Silvestre, Gossip Average Consensus in a Byzantine Environment Using Stochastic Set-Valued Observers, Proc. of CDC 2013 - IEEE 52nd Annual Conference on Decision and Control, Florence, Italy, 2013 - PDF
[30] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, António Pascoal, Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[31] David Cabecinhas, Rita Cunha, Carlos Silvestre, Experimental Validation of a Globally Stabilizing Feedback Controller for a Quadrotor Aircraft with Wind Disturbance Rejection, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF
[32] Pedro Casau, R. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, Global Trajectory Tracking for a Class of Underactuated Vehicles, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF
[33] V. Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, A novel leader-following strategy applied to formations of quadrotors, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[34] David Cabecinhas, Rita Cunha, Carlos Silvestre, Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[35] Pedro Serra, Rita Cunha, Visual Servo Aircraft Control for Tracking Parallel Curves, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[36] David Cabecinhas, Rita Cunha, Carlos Silvestre, Saturated Output Feedback Control of a Quadrotor Aircraft, Proc. of ACC 2012 - American Control Conference, Montreal, Canada, 2012
[37] P. Casau, R. G. Sanfelice, Rita Cunha, Carlos Silvestre, A Landmark-Based Controller for Global Asymptotic Stabilization on SE(3), Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[38] David Cabecinhas, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Rita Cunha, Integrated Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[39] Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Jose Fernandes Vasconcelos, Rita Cunha, An Experimentally Evaluated Attitude Observer Based on Range and Inertial Measurements, Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[40] Sérgio Brás, Rita Cunha, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements, Proc. of ACC 2010 - American Control Conference, Baltimore, Maryland, USA, 2010
[41] David Cabecinhas, R. Naldi, L. Marconi, Carlos Silvestre, Rita Cunha, Robust take-off and landing for a quadrotor vehicle, Proc. of ICRA 2010 - IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010
[42] Pedro Serra, F. Le Bras, T. Hamel, Carlos Silvestre, Rita Cunha, Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wing Aircraft Using Optical Flow, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010
[43] David Cabecinhas, Carlos Silvestre, Rita Cunha, Vision-Based Quadrotor Stabilization Using a Pan and Tilt Camera, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010
[44] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, Laser-Based Trajectory Tracking H2 Control of Autonomous Rotorcraft, Proc. of ACA 2010 - 18th IFAC Symposium on Automatic Control in Aerospace, Nara, Japan, 2010
[45] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, António Pascoal, Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009
[46] David Cabecinhas, Rita Cunha, Carlos Silvestre, Rotorcraft Path Following Control for Extended Flight Envelope Coverage, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009
[47] Sérgio Brás, Rita Cunha, José Vasconcelos, Paulo Oliveira, Nonlinear Attitude Estimation Using Active Vision and Inertial Measurements, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF
[48] José Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Stability of a Nonlinear Attitude Observer on SO(3) with Nonideal Angular Velocity Measurements, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF
[49] N. Hovakimyan, L1 Adaptive Control for Autonomous Rotorcraft, Proc. of ACC 2009 - American Control Conference, Saint Louis, USA, 2009
[50] Carlos Silvestre, Nonlinear Trajectory Tracking Control of a Quadrotor Vehicle, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009
[51] A. Pereira, A Cooperative Autonomous Marine Vehicle Motion Control in the scope of the EU GREX Project: Theory and Practice, Proc. of OCEANS 2009 IEEE Bremen, Germany, 2009
[52] A. Pereira, Cooperative Control of Multiple Marine Vehicles: Theoretical Challenges and Practical Issues, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[53] David Cabecinhas, Rita Cunha, Carlos Silvestre, Output-Feedback Control for Almost Global Stabilization of Fully-Actuated Rigid Bodies, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2009
[54] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, Terrain Avoidance Model Predictive Control for Autonomous Rotorcraft, Proc. of 17th IFAC World Congress, Seoul, South Korea, pp. 1076-1081, 2008 - PDF
[55] José Vasconcelos, A Landmark Based Nonlinear Observer for Attitude and Position Estimation with Bias Compensation, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008
[56] Duarte Antunes, Multi-Rate Path-Following Control for Unmanned Air Vehicles, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008
[57] Carlos Silvestre, A Dynamic Estimator on SE(3) Using Range-Only Measurements, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008
[58] Pedro Serra, On the Design of Rotorcraft Landing Controllers, Proc. of MED 2008 - 16th Mediterranean Conference on Control and Automation, Ajaccio, Corsica, France, 2008
[59] Rita Cunha, Duarte Antunes, Carlos Silvestre, On the Design of Multi-rate Tracking Controllers: An Application to Rotorcraft Guidance and Control, Proc. of AIAA Guidance, Navigation and Control Conference, Hilton Head, South Carolina, USA, 2007 - PDF
[60] José Vasconcelos, Nonlinear Pose Estimation on SE(3), Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007
[61] Bruno Guerreiro, Trajectory Tracking H2 Controller for Autonomous Helicopters: An Application to Industrial Chimney Inspection, Proc. of ACA 2007 - 17th IFAC Symposium on Automatic Control in Aerospace, Toulouse, France (Best Student paper Award), 2007 - PDF
[62] Pedro Gomes, A Coast Line Following Preview Controller for the DELFIMx Vehicle, Proc. of ISOPE2007 - 17th International Offshore and Polar Engineering Conference & Exhibition, Lisbon, Portugal, 2007 - PDF
[63] José Vasconcelos, Landmark Based Nonlinear Observer for Rigid Body Attitude and Position Estimation, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007 - PDF
[64] Rita Cunha, António Pedro Aguiar, Carlos Silvestre, J. Hespanha, Vision-based control for rigid body stabilization, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007 - PDF
[65] Paulo Rosa, Autolanding Controller for a Fixed Wing Unmanned Air Vehicle, Proc. of GNC 2007 - AIAA Guidance and Control Conference, Hilton Head, South Florida, USA, 2007 - PDF
[66] Paulo Rosa, Path-Following Control for Coordinated Turn Aircraft Maneuvers, Proc. of GNC 2007 - AIAA Guidance and Control Conference, Hilton Head, South Florida, USA, 2007 - PDF
[67] Pedro Gomes, A Coastline Following Preview Controller for the DELFIMx Vehicle, Proc. of ISOPE2007 - 17th International Offshore and Polar Engineering Conference & Exhibition, Lisbon, Portugal, 2007 - PDF
[68] Rita Cunha, Duarte Antunes, Pedro Gomes, Carlos Silvestre, A Path-Following Preview Controller for Autonomous Air Vehicles, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006 - PDF
[69] N. Paulino, Carlos Silvestre, Rita Cunha, António Pascoal, A Path-Following Preview Controller for Autonomous Underwater Vehicles, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Vehicles, Lisbon, Portugal, 2006 - PDF
[70] Pedro Gomes, Carlos Silvestre, António Pascoal, Rita Cunha, A Path-Following Controller for the Delfim Autonomous Surface Craft, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Vehicles, Lisbon, Portugal, 2006 - PDF
[71] N. Paulino, Carlos Silvestre, Rita Cunha, António Pascoal, A Bottom-Following Preview Controller for Autonomous Underwater Vehicles, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF
[72] Rita Cunha, Carlos Silvestre, J. Hespanha, Output-feedback Control for Point Stabilization on SE(3), Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF
[73] Rita Cunha, Carlos Silvestre, A 3D Path-Following Velocity-Tracking Controller for Autonomous Vehicles, Proc. of 16th IFAC World Congress, Prague, Czech Republic, 2005
[74] N. Paulino, Carlos Silvestre, Rita Cunha, Terrain Following Controller for Affine Parameter-Dependent Systems: An Application to Model-Scale Helicopters, Proc. of GN&C2005 - AIAA Guidance Navigation and Control Conference, San Francisco, California, USA, 2005
[75] Rita Cunha, Carlos Silvestre, SimModHeli: A dynamic simulator for model-scale helicopters, Proc. MED2003 - 11th Mediterranean Control on Control and Automation, Rodes, Greece, 2003
[76] Rita Cunha, Carlos Silvestre, António Pascoal, A Path Following Controller for Model-Scale Helicopters, Proc. ECC 2003 - The European Control Conference, Cambridge, UK, 2003
[77] Rita Cunha, Dynamic Modeling and Stability Analysis of Model-Scale Helicopters with Bell-Hiller Stabilizing Bar, Proc. AIAA Guidance Navigation and Control Conference, Texas, USA, 2003
[78] Guilherme Libório, N. Paulino, Rita Cunha, Carlos Silvestre, Isabel Ribeiro, Terrain following preview controller for model-scale helicopters, Proc. 11th International Conference on Advanced Robotics, ICAR 2003, Coimbra, Portugal, pp. 1227-1232, 2003
[79] Rita Cunha, Carlos Silvestre, António Pascoal, Path Following Controller for an Autonomous Helicopter, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[80] Rita Cunha, M. Figueiredo, Carlos Silvestre, Simultaneous Compression and Denoising of Side Scan Sonar Images using the Discrete Wavelet Transform, Proc. OCEANS 2000 MTS /IEEE, Providence, Rhode Island, USA, 2000

PhD Theses

[81] Rita Cunha, Advanced Motion Control for Autonomous Air Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, Portugal, June, 2007

MSc Theses

[82] Rita Cunha, Modeling and Control of an Autonomous Robotic Helicopter, Instituto Superior Tecnico, Portugal, 2002

Technical Reports

[83] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas, LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures: Proofs, Complementary report to the paper published in IEEE Transactions on Control Systems Technology by the same authors, online, 2017
[84] Pedro Serra, Rita Cunha, Carlos Silvestre, T. Hamel, Visual servo aircraft control for tracking parallel curves, Technical Report, Institute for Systems and Robotics, Instituto Superior Tecnico, 2012 - PDF
[85] Rita Cunha, Bruno Guerreiro, Carlos Silvestre, Vario-Xtreme Helicopter Nonlinear Model: Complete and Simplified Expressions, Internal Report, Institute for Systems and Robotics, Instituto Superior Técnico, 2006
[86] N. Paulino, Carlos Silvestre, Rita Cunha, Preview Contollers for Affine Parameter Dependent Systems: An Application to Rotorcraft Flight Controllers, DSORL-ISR Technical Report, 2004
[87] Rita Cunha, Carlos Silvestre, Dynamic Modeling and Stability Analysis of Model-Scale Helicopters with Bell-Hiller Stabilizing Bar, DSORL-ISR Technical Report, 2003
[88] Rita Cunha, Carlos Silvestre, A Dynamic Simulator for Model-Scale Helicopters, DSORL-ISR Technical Report, 2003
[89] Guilherme Libório, N. Paulino, Carlos Silvestre, Rita Cunha, Hardware in the Loop Simulation Techniques for Autonomous Helicopters, DSORL-ISR Technical Report, 2003
[90] N. Paulino, Carlos Silvestre, Rita Cunha, LMI Based H_2 Terrain Tracking Preview Controller for Unmanned Helicopters, DSORL-ISR Technical Report, 2003
[91] Rita Cunha, Carlos Silvestre, SimModHeli: A dynamic simulator for model-scale helicopters, DSORL-ISR Technical Report, 2002
[92] Guilherme Libório, N. Paulino, Rita Cunha, Carlos Silvestre, Isabel Ribeiro, Terrain following preview controller for model-scale helicopters, DSORL/Mobile Robotics Labs-ISR Technical Report, 2002 - PDF
[93] Rita Cunha, Carlos Silvestre, António Pascoal, A Path Following Controller for Model-Scale Helicopters, DSORL-ISR Technical Report, 2002
[1] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas, LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures, IEEE Transactions in Control Systems Technology (online), 2017
[2] David Cabecinhas, R. Naldi, Carlos Silvestre, Rita Cunha, L. Marconi, Robust landing and sliding maneuver hybrid controller for a quadrotor vehicle, IEEE Transactions on Control Systems Technology, Vol. 24, No. 2, pp. 400 - 412, March, 2016
[3] Pedro Casau, R. G. Sanfelice, Rita Cunha, Carlos Silvestre, A Globally Asymptotically Stabilizing Trajectory Tracking Controller for Fully Actuated Rigid Bodies using Landmark-based Information, International Journal of Robust and Nonlinear Control, Vol. 25, Issue 18, pp. 3617–3640, December, 2015
[4] Pedro Casau, R. G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, Robust Global Trajectory Tracking for a Class of Underactuated Vehicles, Automatica, Elsevier, Vol. 58, Issue 8, pp. 90-98, August , 2015 - PDF
[5] David Cabecinhas, Rita Cunha, Carlos Silvestre, A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection, IEEE Transactions on Control Systems Technology, Vol. 23, N0. 2, pp. 708-714, 2015
[6] Pedro Serra, Rita Cunha, T. Hamel, Carlos Silvestre, F. Le Bras, Nonlinear Image-Based Visual Servo Controller for the Flare Manoeuvre of Fixed-Wing Aircraft using Optical Flow, IEEE Transactions on Control Systems Technology, Vol. 23, N0. 2, pp. 570-583, 2015
[7] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, António Pascoal, Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft, IEEE Transactions on Control Systems Technology, Vol. 22, No. 6, pp. 2160-2175, November, 2014
[8] David Cabecinhas, Rita Cunha, Carlos Silvestre, A nonlinear quadrotor trajectory tracking controller with disturbance rejection, Elsevier Control Engineering Practice, Vol. 21, No. 3, pp. 242-252, May, 2014
[9] Valter Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, A leader-following trajectory generator with application to quadrotor formation flight, Elsevier Robotics and Autonomous Systems, Vol. 62, No. 10, pp. 1597-1609, October, 2014
[10] Sérgio Brás, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Nonlinear Attitude Observer Based on Range and Inertial Measurements, IEEE Transactions on Control Systems Technology, Vol. 21, No. 5, pp. 1889-1897, September, 2013 - PDF
[11] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, Terrain Avoidance Nonlinear Model Predictive Control for Autonomous Rotorcraft, Journal of Intelligent & Robotic Systems, Volume 68, Issue 1, pages: 69-85, September, 2012
[12] David Cabecinhas, R. Naldi, L. Marconi, Carlos Silvestre, Rita Cunha, Robust Take-off for a Quadrotor Vehicle, IEEE Transactions on Robotics, Vol. 28 , Issue 3, pp. 734 742, June, 2012
[13] Rita Cunha, Joao Hespanha, Carlos Silvestre, Antonio Pedro Aguiar, Vision-based control for rigid body stabilization, Automatica, Vol.47, No 5, pp.1020-1027, May, 2011
[14] Sérgio Brás, Rita Cunha, Jose Vasconcelos, Carlos Silvestre, Paulo Oliveira, A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements, IEEE Transactions on Robotics, Vol. 27, no. 4, pp. 664-677, August, 2011
[15] Duarte Antunes, Carlos Silvestre, Rita Cunha, On the Design of Multi-rate Tracking Controllers: An Application to Rotorcraft Guidance and Control, International Journal of Robust and Nonlinear Control, Vol. 20, No.16, pp. 1879-1902, November, 2010
[16] Jose Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, A nonlinear position and attitude observer on SE(3) using landmark measurements, Systems and Control Letters, Vol.59, No. 3 - 4, pp. 155-166, March-April, 2010
[17] Carlos Silvestre, Rita Cunha, N. Paulino, António Pascoal, A Bottom-Following Preview Controller for Autonomous Underwater Vehicles, IEEE Transaction on Control Systems Technology, vol. 17, no. 2, pp. 257 - 266, March, 2009
[18] Carlos Silvestre, Output-feedback control for almost global stabilization of fully-actuated rigid bodies, Elsevier Systems and Control Letters, Vol. 58, Issue 9, pp. 639-645, September, 2008
[19] J. Hespanha, Output-feedback control for stabilization on SE(3), Elsevier Systems and Control Letters, Vol. 57, Issue 12, pp. 1013-1022, December, 2008
[20] N. Paulino, Affine Parameter-Dependent Preview Control for Rotorcraft Terrain Following Flight, AIAA Journal of Guidance, Control and Dynamics, Vol. 29, No. 6, pp. 1350-1359, November-December, 2006 - PDF
[1] Alexandre Gomes, Bruno Guerreiro, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Sensor-based 3-D pose estimation and control of rotary-wing UAVs using a 2-D LiDAR, Proc. of Robot 2017 - 3rd Iberian Robotics Conference, Sevilla, Spain, 2017
[2] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, LiDAR-based Control of Autonomous Rotorcraft for Inspection of Pole-Shaped Structures, Proc. of ROBOT 2015 - 2nd Iberian Robotics Conference, Lisbon, Portugal, 2015
[3] David Cabecinhas, Rita Cunha, Carlos Silvestre, A Robust Landing and Sliding Maneuver Controller for a Quadrotor Vehicle on a Sloped Incline, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014
[4] P. Pereira, David Cabecinhas, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Three Dimensional Trajectory Planner for Real Time Leader Following, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014
[5] Pedro Casau, R. G. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, A Hybrid Feedback Controller for Robust Global Trajectory Tracking of Quadrotor-like Vehicles with Minimized Attitude Error, Proc. of ICRA 2014 - IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014
[6] David Cabecinhas, Carlos Silvestre, Rita Cunha, A Nonlinear Quadrotor Trajectory Tracking Controller with Disturbance Rejection, Proc. of ACC 2014 - American Control Conference, Portland, OR, USA, 2014
[7] Pedro Serra, Rita Cunha, T. Hamel, David Cabecinhas, Carlos Silvestre, Landing on a Moving Target using Image-Based Visual Servo Control, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014
[8] P. Pereira, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, Trailer-Like Leader Following Trajectory Planning, Proc. of CDC 2014 - 53th IEEE Conference on Decision and Control, Los Angeles, California, USA, 2014
[9] Daniel Silvestre, Paulo Rosa, Rita Cunha, J. P. Hespanha, Carlos Silvestre, Gossip Average Consensus in a Byzantine Environment Using Stochastic Set-Valued Observers, Proc. of CDC 2013 - IEEE 52nd Annual Conference on Decision and Control, Florence, Italy, 2013 - PDF
[10] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, António Pascoal, Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[11] David Cabecinhas, Rita Cunha, Carlos Silvestre, Experimental Validation of a Globally Stabilizing Feedback Controller for a Quadrotor Aircraft with Wind Disturbance Rejection, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF
[12] Pedro Casau, R. Sanfelice, Rita Cunha, David Cabecinhas, Carlos Silvestre, Global Trajectory Tracking for a Class of Underactuated Vehicles, Proc. of ACC 2013 - American Control Conference, Washington, D.C., USA, 2013 - PDF
[13] V. Roldao, Rita Cunha, David Cabecinhas, Carlos Silvestre, Paulo Oliveira, A novel leader-following strategy applied to formations of quadrotors, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[14] David Cabecinhas, Rita Cunha, Carlos Silvestre, Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection, Proc. of ECC 2013 - European Control Conference, Zurich, Switzerland, 2013 - PDF
[15] Pedro Serra, Rita Cunha, Visual Servo Aircraft Control for Tracking Parallel Curves, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[16] David Cabecinhas, Rita Cunha, Carlos Silvestre, Saturated Output Feedback Control of a Quadrotor Aircraft, Proc. of ACC 2012 - American Control Conference, Montreal, Canada, 2012
[17] P. Casau, R. G. Sanfelice, Rita Cunha, Carlos Silvestre, A Landmark-Based Controller for Global Asymptotic Stabilization on SE(3), Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[18] David Cabecinhas, Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Rita Cunha, Integrated Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera, Proc. of CDC 2012 - 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, 2012
[19] Sérgio Brás, Carlos Silvestre, Paulo Oliveira, Jose Fernandes Vasconcelos, Rita Cunha, An Experimentally Evaluated Attitude Observer Based on Range and Inertial Measurements, Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[20] Sérgio Brás, Rita Cunha, José Vasconcelos, Carlos Silvestre, Paulo Oliveira, Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements, Proc. of ACC 2010 - American Control Conference, Baltimore, Maryland, USA, 2010
[21] David Cabecinhas, R. Naldi, L. Marconi, Carlos Silvestre, Rita Cunha, Robust take-off and landing for a quadrotor vehicle, Proc. of ICRA 2010 - IEEE International Conference on Robotics and Automation, Anchorage, Alaska, 2010
[22] Pedro Serra, F. Le Bras, T. Hamel, Carlos Silvestre, Rita Cunha, Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wing Aircraft Using Optical Flow, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010
[23] David Cabecinhas, Carlos Silvestre, Rita Cunha, Vision-Based Quadrotor Stabilization Using a Pan and Tilt Camera, Proc. of CDC 2010 - 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, 2010
[24] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, Laser-Based Trajectory Tracking H2 Control of Autonomous Rotorcraft, Proc. of ACA 2010 - 18th IFAC Symposium on Automatic Control in Aerospace, Nara, Japan, 2010
[25] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, António Pascoal, Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009
[26] David Cabecinhas, Rita Cunha, Carlos Silvestre, Rotorcraft Path Following Control for Extended Flight Envelope Coverage, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shanghai, China, 2009
[27] Sérgio Brás, Rita Cunha, José Vasconcelos, Paulo Oliveira, Nonlinear Attitude Estimation Using Active Vision and Inertial Measurements, Proc. of CDC 2009 - 48th IEEE Conference on Decision and Control, Shangai, China, 2009 - PDF
[28] José Vasconcelos, Rita Cunha, Carlos Silvestre, Paulo Oliveira, Stability of a Nonlinear Attitude Observer on SO(3) with Nonideal Angular Velocity Measurements, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009 - PDF
[29] N. Hovakimyan, L1 Adaptive Control for Autonomous Rotorcraft, Proc. of ACC 2009 - American Control Conference, Saint Louis, USA, 2009
[30] Carlos Silvestre, Nonlinear Trajectory Tracking Control of a Quadrotor Vehicle, Proc. of ECC 2009 - 10th European Control Conference, Budapest, Hungary, 2009
[31] A. Pereira, A Cooperative Autonomous Marine Vehicle Motion Control in the scope of the EU GREX Project: Theory and Practice, Proc. of OCEANS 2009 IEEE Bremen, Germany, 2009
[32] A. Pereira, Cooperative Control of Multiple Marine Vehicles: Theoretical Challenges and Practical Issues, Proc. of MCMC 2009 - 8th Conference on Manoeuvring and Control of Marine Craft, Guaruja (SP), Brazil, 2009
[33] David Cabecinhas, Rita Cunha, Carlos Silvestre, Output-Feedback Control for Almost Global Stabilization of Fully-Actuated Rigid Bodies, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2009
[34] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, Terrain Avoidance Model Predictive Control for Autonomous Rotorcraft, Proc. of 17th IFAC World Congress, Seoul, South Korea, pp. 1076-1081, 2008 - PDF
[35] José Vasconcelos, A Landmark Based Nonlinear Observer for Attitude and Position Estimation with Bias Compensation, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008
[36] Duarte Antunes, Multi-Rate Path-Following Control for Unmanned Air Vehicles, Proc. of 17th IFAC World Congress, Seoul, South Korea, 2008
[37] Carlos Silvestre, A Dynamic Estimator on SE(3) Using Range-Only Measurements, Proc. of CDC 2008 - 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008
[38] Pedro Serra, On the Design of Rotorcraft Landing Controllers, Proc. of MED 2008 - 16th Mediterranean Conference on Control and Automation, Ajaccio, Corsica, France, 2008
[39] Rita Cunha, Duarte Antunes, Carlos Silvestre, On the Design of Multi-rate Tracking Controllers: An Application to Rotorcraft Guidance and Control, Proc. of AIAA Guidance, Navigation and Control Conference, Hilton Head, South Carolina, USA, 2007 - PDF
[40] José Vasconcelos, Nonlinear Pose Estimation on SE(3), Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007
[41] Bruno Guerreiro, Trajectory Tracking H2 Controller for Autonomous Helicopters: An Application to Industrial Chimney Inspection, Proc. of ACA 2007 - 17th IFAC Symposium on Automatic Control in Aerospace, Toulouse, France (Best Student paper Award), 2007 - PDF
[42] Pedro Gomes, A Coast Line Following Preview Controller for the DELFIMx Vehicle, Proc. of ISOPE2007 - 17th International Offshore and Polar Engineering Conference & Exhibition, Lisbon, Portugal, 2007 - PDF
[43] José Vasconcelos, Landmark Based Nonlinear Observer for Rigid Body Attitude and Position Estimation, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007 - PDF
[44] Rita Cunha, António Pedro Aguiar, Carlos Silvestre, J. Hespanha, Vision-based control for rigid body stabilization, Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007 - PDF
[45] Paulo Rosa, Autolanding Controller for a Fixed Wing Unmanned Air Vehicle, Proc. of GNC 2007 - AIAA Guidance and Control Conference, Hilton Head, South Florida, USA, 2007 - PDF
[46] Paulo Rosa, Path-Following Control for Coordinated Turn Aircraft Maneuvers, Proc. of GNC 2007 - AIAA Guidance and Control Conference, Hilton Head, South Florida, USA, 2007 - PDF
[47] Pedro Gomes, A Coastline Following Preview Controller for the DELFIMx Vehicle, Proc. of ISOPE2007 - 17th International Offshore and Polar Engineering Conference & Exhibition, Lisbon, Portugal, 2007 - PDF
[48] Rita Cunha, Duarte Antunes, Pedro Gomes, Carlos Silvestre, A Path-Following Preview Controller for Autonomous Air Vehicles, Proc. AIAA Guidance Navigation and Control Conference, Keystone, CO, USA, 2006 - PDF
[49] N. Paulino, Carlos Silvestre, Rita Cunha, António Pascoal, A Path-Following Preview Controller for Autonomous Underwater Vehicles, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Vehicles, Lisbon, Portugal, 2006 - PDF
[50] Pedro Gomes, Carlos Silvestre, António Pascoal, Rita Cunha, A Path-Following Controller for the Delfim Autonomous Surface Craft, Proc. MCMC2006 - 7th IFAC Conference on Manoeuvring and Control of Marine Vehicles, Lisbon, Portugal, 2006 - PDF
[51] N. Paulino, Carlos Silvestre, Rita Cunha, António Pascoal, A Bottom-Following Preview Controller for Autonomous Underwater Vehicles, Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF
[52] Rita Cunha, Carlos Silvestre, J. Hespanha, Output-feedback Control for Point Stabilization on SE(3), Proc. CDC2006 - 45th IEEE Conference on Decision and Control, San Diego, USA, 2006 - PDF
[53] Rita Cunha, Carlos Silvestre, A 3D Path-Following Velocity-Tracking Controller for Autonomous Vehicles, Proc. of 16th IFAC World Congress, Prague, Czech Republic, 2005
[54] N. Paulino, Carlos Silvestre, Rita Cunha, Terrain Following Controller for Affine Parameter-Dependent Systems: An Application to Model-Scale Helicopters, Proc. of GN&C2005 - AIAA Guidance Navigation and Control Conference, San Francisco, California, USA, 2005
[55] Rita Cunha, Carlos Silvestre, SimModHeli: A dynamic simulator for model-scale helicopters, Proc. MED2003 - 11th Mediterranean Control on Control and Automation, Rodes, Greece, 2003
[56] Rita Cunha, Carlos Silvestre, António Pascoal, A Path Following Controller for Model-Scale Helicopters, Proc. ECC 2003 - The European Control Conference, Cambridge, UK, 2003
[57] Rita Cunha, Dynamic Modeling and Stability Analysis of Model-Scale Helicopters with Bell-Hiller Stabilizing Bar, Proc. AIAA Guidance Navigation and Control Conference, Texas, USA, 2003
[58] Guilherme Libório, N. Paulino, Rita Cunha, Carlos Silvestre, Isabel Ribeiro, Terrain following preview controller for model-scale helicopters, Proc. 11th International Conference on Advanced Robotics, ICAR 2003, Coimbra, Portugal, pp. 1227-1232, 2003
[59] Rita Cunha, Carlos Silvestre, António Pascoal, Path Following Controller for an Autonomous Helicopter, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[60] Rita Cunha, M. Figueiredo, Carlos Silvestre, Simultaneous Compression and Denoising of Side Scan Sonar Images using the Discrete Wavelet Transform, Proc. OCEANS 2000 MTS /IEEE, Providence, Rhode Island, USA, 2000
[1] Rita Cunha, Advanced Motion Control for Autonomous Air Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, Portugal, June, 2007
[1] Rita Cunha, Modeling and Control of an Autonomous Robotic Helicopter, Instituto Superior Tecnico, Portugal, 2002
[1] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas, LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures: Proofs, Complementary report to the paper published in IEEE Transactions on Control Systems Technology by the same authors, online, 2017
[2] Pedro Serra, Rita Cunha, Carlos Silvestre, T. Hamel, Visual servo aircraft control for tracking parallel curves, Technical Report, Institute for Systems and Robotics, Instituto Superior Tecnico, 2012 - PDF
[3] Rita Cunha, Bruno Guerreiro, Carlos Silvestre, Vario-Xtreme Helicopter Nonlinear Model: Complete and Simplified Expressions, Internal Report, Institute for Systems and Robotics, Instituto Superior Técnico, 2006
[4] N. Paulino, Carlos Silvestre, Rita Cunha, Preview Contollers for Affine Parameter Dependent Systems: An Application to Rotorcraft Flight Controllers, DSORL-ISR Technical Report, 2004
[5] Rita Cunha, Carlos Silvestre, Dynamic Modeling and Stability Analysis of Model-Scale Helicopters with Bell-Hiller Stabilizing Bar, DSORL-ISR Technical Report, 2003
[6] Rita Cunha, Carlos Silvestre, A Dynamic Simulator for Model-Scale Helicopters, DSORL-ISR Technical Report, 2003
[7] Guilherme Libório, N. Paulino, Carlos Silvestre, Rita Cunha, Hardware in the Loop Simulation Techniques for Autonomous Helicopters, DSORL-ISR Technical Report, 2003
[8] N. Paulino, Carlos Silvestre, Rita Cunha, LMI Based H_2 Terrain Tracking Preview Controller for Unmanned Helicopters, DSORL-ISR Technical Report, 2003
[9] Rita Cunha, Carlos Silvestre, SimModHeli: A dynamic simulator for model-scale helicopters, DSORL-ISR Technical Report, 2002
[10] Guilherme Libório, N. Paulino, Rita Cunha, Carlos Silvestre, Isabel Ribeiro, Terrain following preview controller for model-scale helicopters, DSORL/Mobile Robotics Labs-ISR Technical Report, 2002 - PDF
[11] Rita Cunha, Carlos Silvestre, António Pascoal, A Path Following Controller for Model-Scale Helicopters, DSORL-ISR Technical Report, 2002

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