Bruno Guerreiro
Faculty
Bruno Guerreiro is currently an Assistant Professor with the Faculty of Science and Technology, Universidade Nova de Lisboa (FCT/UNL), and a researcher with the Institute for Systems and Robotics (ISR-Lisboa, LARSYS), at Instituto Superior Técnico, Lisbon, Portugal. He obtained the PhD degree in Electrical and Computer Eng. from IST in 2013, and his scientific activity has focused on theoretical, practical, and technological challenges related to the use of aerial robotics for civilian applications, with particular emphasis on sensor-based SLAM, trajectory planning, linear and nonlinear control, model predictive control, automatic LIDAR calibration, and modeling of aerial and marine vehicles.
Current Projects
Acronym | Name | Funding | Dates |
---|---|---|---|
CAPTURE DRONES | Shuttle drone for launch and capture in cooperative and non-cooperative scenarios | FCT | 2021-03|2025-03 |
Closed Projects
Acronym | Name | Funding | Dates |
---|---|---|---|
REPLACE | Fast delivery in urban environments using drone RElays: PLAnning, Control, and Estimation | FCT | 2018-06|2022-05 |
LOTUS | Load transportation using Unmanned Aerial Vehicles | FCT | 2016-01|2019-12 |
MULTIDRONE | MULTIple DRONE platform for media production | EU | 2017-01|2019-12 |
MEDIRES | Methodologies for Surveying and Diagnosis of Semi-submerged Structures | ADI | 2003|2007 |
HELICIM | Autonomous Helicopter for Critical Infrastructure Monitoring | FCT | 2007-10|2010-09 |
AIRTICI | Advanced Interactive Robotic Tools for the Inspection of Critical Infrastructures | AdI - QREN | 2009-03|2012-02 |
AMMAIA | A concerted action of archaeology, natural sciences and applied technologies to place a Roman town in context | FCT | 2011-01|2013-12 |
TRIDENT | Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions | EU-FP7 | 2010-03|2013-02 |
[1] Pedro Pereira, Bruno Guerreiro, Pedro Lourenco, "Distributed Model Predictive Control Method for Spacecraft Formation Flying in a Leader-Follower Formation", IEEE Transactions on Aerospace and Electronic Systems, 2022
[2] Ioannis Mademlis, Arturo Torres-González, Jesús Capitán, Maurizio Montagnuolo, Alberto Messina, Fulvio Negro, Cedric le Barz, Tiago Gonçalves, Rita Cunha, Bruno Guerreiro, Fan Zhang, Stephen Boyle, Gregoire Guerout, Anastasios Tefas, Nikos Nikolaidis, David Bull, Ioannis Pitas, "A multiple-UAV architecture for autonomous media production. Multimed Tools and Applications", Multimedia Tools and Applications volume 82, pp 1905–1934, 2022
[3] Manuel Simas, Bruno Guerreiro, Pedro Batista, "Earth-based Simultaneous Localization and Mapping for Drones in Dynamic Environments", Journal of Intelligent Robotic Systems 104, 58, 2022
[4] Pedro Lourenço, Bruno Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Earth-fixed trajectory and map online estimation Building on GES sensor-based SLAM filters", Robotics and Autonomous Systems, Elsevier, vol. 130, 2020, 2020
[5] Bruno Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas, "LiDAR-based control of autonomous rotorcraft for the inspection of pier-like structures", IEEE Transactions on Control Systems Technology, Volume 26, Issue 4, Pages 1430 - 1438, 2018
[6] 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
[7] 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
[8] 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
[9] Bruno Guerreiro, Carlos Silvestre, Paulo Oliveira, "Automatic 2-D LiDAR Geometric Calibration of Installation Bias", Elsevier Robotics and Autonomous Systems, 62, pp. 1116-1129. DOI:10.1016/j.robot.2014.05.001, 2014
[10] 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
[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] Jose Vasconcelos, Carlos Silvestre, Paulo Oliveira, Bruno Guerreiro, "Embedded UAV model and LASER aiding techniques for inertial navigation systems", Control Engineering Practice, vol.18, no. 3, pp. 262-278, Elsevier, March, 2010
[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] Joao Carvalho, Bruno Guerreiro, "Instrumentation and control of a target fixed-wing drone for launch and capture", 7th edition of the International Young Engineers Forum on Electrical and Computer Engineering – YEF-ECE, 2023 - PDF
[2] Pedro Casau, Bruno Guerreiro, "Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles", 2023 American Control Conference , 2023
[3] Tomás Bastos, Bruno Guerreiro, Rita Cunha, "Task Allocation Algorithms for Drone Parcel Delivery Systems", Proc. of CONTROLO 2022 - 15th APCA International Conference on Automatic Control and Soft Computing, Caparica, Portugal. Lecture Notes in Electrical Engineering, vol 930. Springer, 2022
[4] Gil Serrano, Bruno Guerreiro, Rita Cunha, "Nonlinear Control of Hybrid Drones via Optimised Control Allocation", Proc. of CONTROLO 2022 - 15th APCA International Conference on Automatic Control and Soft Computing, Caparica, Portugal. Lecture Notes in Electrical Engineering, vol 930, pp. 214-226, Springer, 2022
[5] Fábio Luz, Bruno Guerreiro, Manuel Marques, "Model predictive control for assistive robotics manipulation", Proc. of CONTROLO 2022 - 15th APCA International Conference on Automatic Control and Soft Computing, Caparica, Portugal. Lecture Notes in Electrical Engineering, vol 930, pp. 83-94, Springer, 2022
[6] Pedro M.P. Pereira, Bruno Guerreiro, Pedro Lourenco, "Cooperative Platooning and Servicing for Spacecraft Formation Flying using Model Predictive Control", Proc. of CEAS EuroGNC 2022 - 6th CEAS Conference on Guidance, Navigation and Control, Berlin, Germany, 2022
[7] João Pinto, Bruno Guerreiro, Rita Cunha, "Planning Parcel Relay Manoeuvres for Quadrotors,", 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 2021 - PDF
[8] Bruno Guerreiro, Hugo Cabrita , "NOVA.DroneArena: design and control of a low-cost drone testbed", International Young Engineers Forum (YEF-ECE), Caparica / Lisboa, Portugal, 2021, pp. 20-25, 2021
[9] Manuel Simas, Bruno Guerreiro, Pedro Batista, "Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments", Proc. of 7th International Conference on Robot Intelligence Technology and Applications (RiTA), 2019
[10] Arturo Torres-González, Alfonso Alcantara, Vasco Sampaio, Jesús Capitán, Bruno Guerreiro, Rita Cunha, Anibal Ollero, "Distributed Mission Execution for Aerial Cinematography with Multiple Drones", EUSIPCO. Satellite Workshop on Signal Processing, Computer Vision and Deep Learning for Autonomous Systems, La Coruña, Spain, 2019
[11] Ioannis Mademlis, Arturo Torres-González, Jesús Capitán, Rita Cunha, Bruno Guerreiro, Alberto Messina, Fulvio Negro, Cedric le Barz, Tiago Gonçalves, Anastasios Tefas, Ioannis Pitas, "A Multiple-UAV Software Archi- tecture for Autonomous Media Production", EUSIPCO. Satellite Workshop on Signal Processing, Computer Vision and Deep Learning for Autonomous Systems, La Coruña, Spain, 2019
[12] Marta Marques, Bruno Guerreiro, Rita Cunha, Carlos Silvestre, "Trajectory planning and control for drone replacement for multidrone cinematography", 21st IFAC Symposium on Automatic Control in Aerospace (ACA 2019), 2019
[13] Rita Cunha, Miguel Malaca, Vasco Sampaio, Bruno Guerreiro, Paraskevi Nousi, Ioannis Mademlis, Anastasios Tefas, Ioannis Pitas, "Gimbal Control for Vision-based Target Tracking", Proc. of EUSIPCO. Satellite Workshop on Signal Processing, Computer Vision and Deep Learning for Autonomous Systems, La Coruña, Spain, 2019
[14] Pu Bai, Bruno Guerreiro, Rita Cunha, Przemyslaw Kornatowski, Dario Floreano , Carlos Silvestre, "Wall-contact sliding control strategy for a 2D caged quadrotor", 18th ICCAS, October, pp. 291-296. (Best Paper Award), 2018
[15] 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
[16] 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
[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, 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
[19] 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
[20] 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
[21] 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
[22] Bruno Guerreiro, "Automatic LADAR Calibration Methods using Geometric Optimization", Proc. of ICRA 2011 - IEEE International Conference on Robotics and Automation, Shanghai, China, 2011
[23] 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
[24] 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
[25] N. Hovakimyan, "L1 Adaptive Control for Autonomous Rotorcraft", Proc. of ACC 2009 - American Control Conference, Saint Louis, USA, 2009
[26] 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
[27] Bruno Guerreiro, "Nonlinear and Geometric Optimization Methods for LADAR Calibration", Proc. ICRA 2008 - IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008
[28] 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
[1] Bruno Guerreiro, "Sensor-based Control and Localization of Autonomous Vehicles in Unknown Environments", Ph.D. Thesis, Instituto Superior Tecnico, Universidade Tecnica de Lisboa, December, 2013
[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] 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