Pedro Batista
Faculty
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. After a short post-doctoral fellowship at the Institute for Systems and Robotics – Lisbon / Instituto Superior Técnico (ISR/IST), he served there as Assistant Researcher from 2012 to 2015. During that time he was also Invited Assistant Professor at IST. From 2016 to 2022 he was Assistant Professor with Department of Electrical and Computer Engineering at IST, where he currently is Associate Professor. He is IEEE Senior Member and since 2016 he is also Associate Editor of the Conference Editorial Board of the IEEE Control Systems Society. 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.
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 |
---|---|---|---|
DECENTER | Controlo e Estimação Descentralizados Avançados com Aplicação à Navegação de Veículos Autónomos e Gestão de Redes de Tráfegos | P2020 | 2018-08|2021-07 |
OceanTech | Collaborative vehicles and operation management systems for deep sea exploration | P2020 | 2017-12|2021-10 |
[1] José Luís Parreira, Pedro Lourenco, Pedro Batista, "Globally Convergent Near-Optimal Pose and Inertia Estimation of On-Orbit Uncooperative Targets", IEEE Transactions on Aerospace and Electronic Systems , 2024
[2] Leonardo Pedroso, Pedro Batista, "Distributed decentralized receding horizon control for very large-scale networks with application to satellite mega-constellations", Control Engineering Practice Volume 141, 105728, 2023
[3] Pedro Trindade, Pedro Batista, Rita Cunha, "Third-Order Consensus for Robust Distributed Formation Control of Double Integrator Vehicles", Control Engineering Practice, vol. 133, 105436, 2023
[4] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Discrete-time Kalman filter for heave motion estimation", Ocean Engineering Volume 277, 114240, 2023
[5] Leonardo Pedroso, Pedro Batista, "Distributed decentralized EKF for very large-scale networks with application to satellite mega-constellations navigation", Control Engineering Practice Volume 135, 105509, 2023
[6] Pedro Mendes, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Cooperative decentralized navigation algorithms based on bearing measurements for arbitrary measurement topologies", Ocean Engineering, Volume 270, 2023, 113564, ISSN 0029-8018, 2023
[7] Leonardo Pedroso, Pedro Batista, "Decentralized moving horizon estimation for large-scale networks of interconnected unconstrained linear systems", IEEE Transactions on Control of Network Systems, pp. 1-12, 2023
[8] Chenfeng Huang, Haitong Xu, Xianku Zhang , Pedro Batista, C. Guedes Soares, "Fixed-time leader-follower formation control of underactuated unmanned surface vehicles with unknown dynamics and ocean disturbances", European Journal of Control, vol. 70, pp. 100784, 2023
[9] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Earth velocity and rigid-body attitude estimation on SO(3) using biased measurements", IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 4246-4257, 2022
[10] Leonardo Pedroso, Pedro Batista, "Reproducible low-cost flexible quadruple-tank process experimental setup for control educators, practitioners, and researchers", Journal of Process Control, vol. 113, pp. 82-94, 2022
[11] Xuanzhi, David Cabecinhas, Wei Xie, Pedro Casau, Carlos Silvestre, Pedro Batista, Paulo Oliveira, "Kalman–Bucy filter-based tracking controller design and experimental validations for a quadcopter with parametric uncertainties and disturbances", International Journal of Systems Science, vol. 54, no. 1, pp. 17-41, 2022
[12] Pedro Cruz, Pedro Batista, "Attitude Uncertainty Analysis of a Three-vehicle Constrained Formation", Sensors, vol. 22, no. 10, 3879, 2022
[13] Ivan Andrushka, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Decentralized control and state estimation of linear time-periodic systems", International Journal of Robust and Nonlinear Control, vol. 33, no. 1, pp. 102-1033, 2022
[14] 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
[15] Pedro Cruz, Pedro Batista, Amit Sanyal, "Design and analysis of attitude observers based on the Lagrange-d’Alembert principle applied to constrained three-vehicle formations", Advances in Space Research, Volume 69, Issue 11, Pages 4001-4012, 2022
[16] Leonardo Pedroso, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Discrete-time distributed Kalman filter design for networks of interconnected systems with linear time-varying dynamics", International Journal of Systems Science, vol. 53, no. 6, pp. 1334-1351, 2021
[17] Leonardo Pedroso, Pedro Batista, "Decentralized store-and-forward based strategies for the signal control problem in large-scale congested urban road networks", Transportation Research Part C: Emerging Technologies, Vol. 132, November, 103412, 2021 - PDF
[18] Leonardo Pedroso, Pedro Batista, "Discrete-time decentralized linear quadratic control for linear time-varying systems", International Journal of Robust and Nonlinear Control, vol. 33, no. 1, pp. 67-101, 2021
[19] David Santos, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Decentralized Navigation Systems for Bearing-based Position and Velocity Estimation in Tiered Formations", International Journal of Systems Science, vol. 53, no. 3, pp. 504-525, 2021
[20] Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Distributed controller design and performance optimization for discrete-time linear systems", Optimal Control Applications and Methods, Vol 41, no. 1, pp. 126-143, 2021 - PDF
[21] Pedro Cruz, Pedro Batista, "Characterization of Degenerate Configurations in Attitude Determination of Three-Vehicle Heterogeneous Formations", Sensors 2021, 21(14), 4631, 2021 - PDF
[22] Leonardo Pedroso, Pedro Batista, "Efficient Algorithm for the Computation of the Solution to a Sparse Matrix Equation in Distributed Control Theory", Mathematics 2021, 9(13), 2021 - PDF
[23] Leonardo Pedroso, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Discrete-time distributed Kalman filter design for networks of interconnected systems with linear time-varying (LTV) dynamics", International Journal of Systems Science, 2021
[24] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field", Automatica, Volume 125, 109475, 2020 - PDF
[25] Tiago Silva, Pedro Batista, "Long baseline navigation filter with clock offset estimation", Nonlinear Dynamics, vol. 100, pp. 2557-2573, 2020, 2020 - PDF
[26] 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
[27] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Kalman filter cascade for attitude estimation on rotating Earth", IEEE/ASME Transactions on Mechatronics; Vol 25, nº. 1, pp. 327-338, 2020
[28] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Nonlinear Observer on SO(3) for Attitude Estimation on Rotating Earth using Single Vector Measurements", IEEE Control Systems Letters, vol. 3, no. 2, pp. 392-397, 2019
[29] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Attitude estimation using high-grade gyroscopes", Control Engineering Practice, vol. 92, 2019
[30] Pedro Cruz, Pedro Batista, "A solution for the attitude determination of three-vehicle heterogeneous formations", Aerospace Science and Technology, vol. 93, 2019
[31] Pedro Batista, "Robustness to measurement noise of a globally convergent attitude observer with topological relaxations", Nonlinear Dynamics, vol. 98, no.1, pp. 589-600, 2019
[32] Pedro Batista, "Long Baseline Navigation with Explicit Pseudo-Range Clock Offset and Propagation Speed Estimation", European Journal of Control, vol. 49, p.p. 116-130, 2019
[33] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Calibration of High-Grade Inertial Measurement Units using a Rate Table", IEEE Sensors Letters, Vol. 3, No. 4, 2019
[34] Pedro Batista, Carlos Silvestre, Paulo Oliveira, "Attitude Observer on the Special Orthogonal Group with Earth Velocity Estimation", Systems & Control Letters, Vol. 126, pp. 33-39, 2019
[35] Pedro Batista, Carlos Silvestre, Paulo Oliveira, "Globally Exponentially Stable Attitude Observer with Earth Velocity Estimation", Asian Journal of Control, vol. 21, no. 4, pp. 1409-1422, 2019
[36] Pedro Lourenço, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Strategies for uncertainty optimization through motion planning in GES sensor-based SLAM", Robotics and Autonomous Systems, vol. 113, pp. 38-55, 2019
[37] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Source localization based on acoustic single direction measurements", IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 6, pp. 2837-2852, 2018
[38] David Cabecinhas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Hovercraft control with dynamic parameters identification", IEEE Transactions on Control Systems Technology, 26(3): 785-796, May, 2018 - PDF
[39] Daniel Viegas, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Discrete-time distributed Kalman filter design for formations of autonomous vehicles", Control Engineering Practice, Vol. 75, pp. 55-68, June, 2018
[40] 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, vol. 100, pp. 61-77, February, 2018
[41] 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
[42] 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
[43] 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
[44] 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
[45] 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
[46] 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
[47] 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
[48] 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
[49] 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
[50] 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
[51] 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
[52] Pedro Batista, "Long Baseline Navigation with Clock Offset Estimation and Discrete-Time Measurements", Control Engineering Practice, Vol. 35, February, pp. 43–53, 2015
[53] 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
[54] 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
[55] 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
[56] 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
[57] 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
[58] Pedro Batista, "A GES attitude observer with single vector observations", Automatica, Vol. 48, No. 2, pp. 388395, 2012
[59] 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
[60] 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
[61] 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
[62] 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
[63] 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
[64] 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
[65] 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
[66] 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
[67] 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
[68] 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
[69] 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
[70] 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
[71] 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
[72] 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
[73] 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
[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 Trindade, Rita Cunha, Pedro Batista, "First- and Second-Order Consensus with Constant Uniform Delays", 62nd IEEE Conference on Decision and Control, Singapore, 2023 - PDF
[2] Theodoros Mertzimekis, Varvara Lagaki, Ioannis Madesis, Georgios Siltzovalis, Eleni Petra, Paraskevi Nomikou, Pedro Batista, Javier Escartin, Konstantinos Karantzalos , Valsamis Douskos, "RAMONES and Environmental Intelligence: Progress Update", Proc. of the 2022 ACM Conference on Information Technology for Social Good, pp. 244–249, 2022
[3] Pedro Lourenco, Pedro Batista, "Nonlinear MPC for Attitude Guidance & Control of Autonomous Spacecraft", CONTROLO 2022. CONTROLO 2022. Lecture Notes in Electrical Engineering, vol 930. Springer, Cham, 2022
[4] Pedro Batista, Luís Sebastião, António Pascoal, Theodoros Mertzimekis, Konstantin Kebkal, A.Mallios, Konstantinos Karantzalos , K. Nikolopoulos, Javier Escartin, L. Maigne, "The EU project RAMONES – continuous, long-term autonomous monitoring of underwater radioactivity", 7 as Jornadas de Engenharia Hidrográfica / 2 as Jornadas Luso-Espanholas de Hidrografia, 2022 - PDF
[5] Pedro Trindade, Rita Cunha, Pedro Batista, "Consensus: Optimal Coupling Gain Design", American Control Conference (ACC), Atlanta, GA, USA, 2022, pp. 54-59, 2022
[6] Pedro Mendes, Pedro Batista, "A study on cooperative navigation of AUVs based on bearing measurements", Proc. of OCEANS 2021, San Diego - Porto, 2021 - PDF
[7] Ricard Marxer, Vincent Huguel, Kalliopi Pediaditi Prud’homme, Pedro Batista, Jose Vicente Marti Aviles, António Pascoal, Pedro J. Sanz, Ingrid Schjølberg, "Marine and Maritime Intelligent Robotics (MIR)", Proc. of OCEANS 2021, San Diego - Porto, 2021 - PDF
[8] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Kalman filtering technique for attitude estimation on SO(3) using single inertial vector observations", Proc. of OCEANS 2021, San Diego, Porto, pp. 1-6, 2021
[9] T. J. Mertzimekis, P. Nomikou, E. Petra, Pedro Batista, David Cabecinhas, António Pascoal, Luís Sebastião, J. Escartín, K. Kebkal, K. Karantzalos, A.Mallios, K. Nikolopoulos, L. Maigne, "Radioactivity Monitoring in Ocean Ecosystems (RAMONES)", Proceedings of the ACM International Conference on Information Technology for Social Good, Rome, Italy, pp. 216-220, 2021 - PDF
[10] Pedro Cruz, Pedro Batista, Amit Sanyal, "Attitude observers for three-vehicle heterogeneous formations based on the Lagrange-d’Alembert principle", Proc. of ECC 2021 - European Control Conference (virtual), Rotterdam, Netherlands , 2021 - PDF
[11] Tiago Oliveira, Pedro Trindade, David Cabecinhas, Pedro Batista, Rita Cunha, "Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles", Proc. f IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2021
[12] Amit Sanyal, "Attitude observers for three-vehicle heterogeneous formations based on the Lagrange-d’Alembert principle", European Control Conference (ECC), Delft, Netherlands, 2021, pp. 2317-2322, 2021
[13] Joel Reis, Carlos Silvestre, Pedro Batista, Paulo Oliveira, "Attitude observers aided by implicit measurements of the Earth angular velocity", IEEE Conference on Decision and Control (CDC), Jeju, 2020, pp. 1300-1305, doi: 10.1109/CDC42340.2020.9304161, 2020
[14] Pedro Trindade, Rita Cunha, Pedro Batista, "Distributed Formationcontrol of Double-Integrator Vehicles with Disturbance Rejection", Proc. of 21st IFAC World Congress, Berlin, Germany, 2020 - PDF
[15] David Santos, Pedro Batista, "Cooperative Navigation Based on Bearing and Range Measurements to Different Vehicles", Proc. of 21st IFAC World Congress, Berlin, Germany, 2020 - PDF
[16] Pedro Batista, "Navigation and source Localization based on single Pseudo-Ranges with an Unknown Multiplicative Factor", Proc. of 21st IFAC World Congress, Berlin, Germany, 2020., 2020 - PDF
[17] Pedro Batista, "Navigation and Source Localization based on Single Pseudo-Ranges", 2020 American Control Conference (ACC), Denver, 2020, pp. 5237-5242, doi: 10.23919/ACC45564.2020.9148010, 2020
[18] David Santos, Pedro Batista, "Decentralized Navigation Systems for Bearing-based Position and Velocity Estimation in Tiered Formations", 2020 American Control Conference (ACC), Denver, 2020, pp. 5225-5230, doi: 10.23919/ACC45564.2020.9147640, 2020 - PDF
[19] Pedro Cruz, Pedro Batista, "Special Cases in the Attitude Determination of Three-Vehicle Heterogeneous Formations", 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT), Prague, 2020, pp. 136-141, doi: 10.1109/CoDIT49905.2020.9263956, 2020 - PDF
[20] 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
[21] Tiago Silva, Pedro Batista, "Long Baseline Aided Inertial Navigation System with Clock Offset Estimation", Proc. of the 2019 European Control Conference, Naples, Italy, pp. 4022-4027, 2019
[22] Pedro Batista, Paulo Oliveira, Carlos Silvestre, "A Globally Exponentially Stable Solution for Frequency Estimation", Proceedings of the 2018 57th IEEE Conference on Decision and Control, Miami Beach, Florida, USA, pp. 626-631, 2018
[23] Joel Reis, Pedro Batista, Paulo Oliveira, Carlos Silvestre, "Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements", 2018 IEEE Conference on Control Technology and Applications (CCTA), 2018
[24] Pedro Cruz, Pedro Batista, "Relative and inertial attitude determination in three-vehicle long formations", Proc. of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018
[25] 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
[26] 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
[27] 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
[28] 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
[29] 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
[30] 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
[31] 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
[32] 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
[33] 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
[34] 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
[35] 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
[36] Pedro Batista, "GES Long Baseline Navigation with Clock Offset Estimation", Proc. of ECC 2014 - European Control Conference, Strasbourg, France, pp. 3011-3016., 2014
[37] 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
[38] 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
[39] 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
[40] 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
[41] 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
[42] 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
[43] 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
[44] 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
[45] 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
[46] 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
[47] 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
[48] 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
[49] 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
[50] 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
[51] 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
[52] 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
[53] 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
[54] 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
[55] 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
[56] 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
[57] 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
[58] 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
[59] 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
[60] 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
[61] 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
[62] Pedro Batista, Carlos Silvestre, Paulo Oliveira, "GES Attitude Observers – Part I: Multiple General Vector Observations", Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[63] Pedro Batista, Carlos Silvestre, Paulo Oliveira, "GES Attitude Observers – Part II: Single Vector Observations", Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[64] 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
[65] 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
[66] 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
[67] Marco Morgado, "Position and Velocity USBL/IMU Sensor-based Navigation Filter", Proc. of 18th IFAC World Congress, Milan, Italy, 2011
[68] 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
[69] 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
[70] 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
[71] 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
[72] 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
[73] 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
[74] Pedro Batista, "Position and Velocity Optimal Sensor-based Navigation Filters for UAVs", Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF
[75] Pedro Batista, Carlos Silvestre, Bruno Cardeira, "Discrete Time-Varying Attitude Complementary Filter", Proc. of ACC 2009 - American Control Conference, Saint Louis, Missouri, USA, 2009 - PDF
[76] 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
[77] 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
[78] 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
[79] 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
[80] 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
[81] Pedro Batista, "Position and Velocity Navigation Filters for Marine Vehicles", Proc. of the 17th IFAC World Congress, Seoul, South Korea, 2008
[82] Pedro Batista, "Observer Design for a Class of Kinematic Systems", Proc. of CDC 2007 - 46th IEEE Conference on Decision and Control, New Orleans, USA, 2007
[83] 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
[84] Pedro Batista, Carlos Silvestre, "A Sensor Based Homing Strategy for Autonomous Underwater Vehicles", Proc. MED2006 - 14th Mediterranean Conference on Control and Automation, Ancona, Italy, 2006 - PDF
[85] 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
[86] 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
[1] Joel Reis, Pedro Batista, Carlos Silvestre, Paulo Oliveira, "Attitude estimation method, terminal, system and computer-readable storage medium", US Patent App. 17/682,066, 2023