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Rita Cunha received her PhD in Electrical and Computer Engineering in 2007 and the Licenciatura in Computer Science and Engineering in 1998, both from Instituto Superior Técnico (IST), Universidade de Lisboa. Since 2019 she has been with the Department of Electrical and Computer Engineering of IST, where she teaches in the areas of Control and Robotics. She is currently an Associate Professor of IST, member of the Executive Board of the Department of Electrical and Computer Engineering of IST, and a senior researcher with the Institute for Systems and Robotics (ISR). Her research interests and expertise include dynamical systems, nonlinear control systems, motion planning and control of autonomous vehicles, distributed control systems, vision-based control, and aerial robotics. She has participated in several research projects, including 2 EU projects as coordinator of IST's participation and 4 national projects as principal investigator and 3 national projects as co-PI. Selected projects for which she coordinated IST’s participation include: MULTIDRONE – Multiple Drone platform for media production (H2020), LOTUS - Load Transportation using Unmanned Aerial Vehicles (FCT, Portugal2020), and SCARVE - Sensor-based Control of Autonomous Aerial Vehicles (FCT). She has published over 50 journal papers and over 90 conference papers (citations: 3700+, h-index: 33 in Google Scholar). She has completed the supervision and co-supervision of 6 PhD theses , she has supervised or co-supervised more than 40 MSc students and is currently supervising 4 PhD students and 3 MSc students.
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Identification

Personal identification

Full name
Rita Maria Mendes de Almeida Correia da Cunha

Citation names

  • Cunha, Rita

Author identifiers

Ciência ID
4011-2B5B-194B
ORCID iD
0000-0002-8925-1273
Scopus Author Id
55605472200

Addresses

  • Instituto de Sistemas e Robótica, Instituto Superior Técnico, Universidade de Lisboa. Torre Norte piso 8, Av. Rovisco Pais 1, 1046-001, Lisboa, Lisboa, Portugal (Professional)

Knowledge fields

  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Automation and Control Systems
  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control

Languages

Language Speaking Reading Writing Listening Peer-review
English Advanced (C1) Advanced (C1) Advanced (C1) Advanced (C1)
French Intermediate (B1) Intermediate (B1) Intermediate (B1) Intermediate (B1)
Portuguese Advanced (C1) Advanced (C1) Advanced (C1) Advanced (C1)
Education
Degree Classification
2007
Concluded
 Engenharia Electrotécnica e de Computadores (Doutoramento)
Major in Sem especialidade
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Advanced Motion Control for Autonomous Air Vehicles" (THESIS/DISSERTATION)
2002
Concluded
 Electrical and Computer Engineering (Mestrado)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Modeling and control of an autonomous robotic helicopter" (THESIS/DISSERTATION)
 Approved
1998
Concluded
 Ciências de Engenharia - Engenharia Informática e de Computadores (Licenciatura)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"n.a." (THESIS/DISSERTATION)
 17
Affiliation

Science

Category
Host institution 		Employer
2019/01/01 - Current Principal Investigator (Research) Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
2014/01/01 - 2018/12/31 Contracted Researcher (Research) Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
2007/08/01 - 2013/12/31 Postdoc (Research) Universidade de Lisboa Instituto Superior Técnico, Portugal

Teaching in Higher Education

Category
Host institution 		Employer
2021/06/01 - Current Associate Professor (University Teacher) Universidade de Lisboa Instituto Superior Técnico, Portugal
Universidade de Lisboa Instituto Superior Técnico, Portugal
2019/07/01 - 2021/05/31 Assistant Professor (University Teacher) Universidade de Lisboa Instituto Superior Técnico, Portugal
Universidade de Lisboa Instituto Superior Técnico, Portugal
2012/09/01 - 2019/05/31 Invited Assistant Professor (University Teacher) Universidade de Lisboa Instituto Superior Técnico, Portugal
Projects

Contract

Designation Funders
2021/01 - Current ECOBOTICS-SEA
824043
Research Fellow
EU Framework Programme for Research and Innovation Marie Sklodowska-Curie Actions
2020/09/01 - Current EUMarineRobots - The EU Marine Robotics Research Infrastructure Network
73119
Responsible for IST's participation
EU Framework Programme for Research and Innovation Science with and for Society
Ongoing
2017/12/04 - Current OceanTech - Sistema de Gestão de Operações com base em Veículos Robóticos Inteligentes para a Exploração do Mar Global a partir de Portugal
C34/2016/24508
Instituto Português do Mar e da Atmosfera, Portugal

Universidade de Lisboa Instituto Superior Técnico, Portugal

Universidade do Algarve, Portugal

Universidade do Porto, Portugal
Agência Nacional de Inovação SA
2022/07/01 - 2025/06/30 RAIECO - Hybrid Underwater Robotic Systems and Artificial Intelligence-Based Seabed Imaging Tools for Marine Ecosystem Studies
DRI/India/0699/2020
Research Fellow
Universidade de Aveiro, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Laboratório de Robótica e Sistemas de Engenharia, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2021/03/29 - 2024/03/28 Drone vaivém para lançamento e captura em cenários cooperativos e não cooperativos
PTDC/EEI-AUT/1732/2020
Instituto de Engenharia Mecânica, Portugal

UNINOVA Instituto de Desenvolvimento de Novas Tecnologias, Portugal

Laboratório de Robótica e Sistemas de Engenharia, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2021/03 - 2024/03 CAPTURE - Shuttle drone for launch and capture in cooperative and non-cooperative scenarios
Provided by PTCRIS: PTDC/EEI-AUT/1732/2020
co-PI
Fundação para a Ciência e a Tecnologia
2021/02 - 2024/01 FirePuma - Prevenção de Fogos Florestais através de Vigilância para Redução de Incerteza
Provided by PTCRIS: PCIF/MPG/0156/2019
co-PI
Fundação para a Ciência e a Tecnologia
2020/01/01 - 2023/12/31 Laboratory of Robotics and Engineering Systems
UIDP/50009/2020
10.54499/UIDP/50009/2020
Laboratório de Robótica e Sistemas de Engenharia, Portugal

Universidade de Lisboa Instituto Superior Técnico, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Agência Regional para o Desenvolvimento da Investigação Tecnologia e Inovação, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2018/08/15 - 2021/08/14 HARMONY - Distributed Optimal Control for Cyber-Physical Systems Applications
PTDC/EEI-AUT/31411/2017
Researcher
Instituto de Engenharia de Sistemas e Computadores Investigação e Desenvolvimento em Lisboa, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Universidade do Porto, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2017/07 - 2021/06 EMSO-PT - European Multidisciplinary Sea Floor Observatory - Portugal
Provided by PTCRIS: POCI-01-0145-FEDER-022157
Responsible for IST's participation
Fundação para a Ciência e a Tecnologia
2018/06/01 - 2021/05/31 Replace - Fast Delivery in Urban Environments using Drone RElays: PLAnning, Control, and Esti- mation
PTDC/EEI-AUT/32107/2017
co-PI
Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Instituto de Engenharia Mecânica, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2019/01/01 - 2019/12/31 Laboratório de Robótica e Sistemas de Engenharia
UID/EEA/50009/2019
LA/P/0083/2020
10.54499/LA/P/0083/2020
Laboratório de Robótica e Sistemas de Engenharia, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Universidade de Lisboa Centro de Ciência e Tecnologia do Ambiente e do Mar, Portugal

Agência Regional para o Desenvolvimento da Investigação Tecnologia e Inovação, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2017/01/01 - 2019/12/31 MULTIDRONE - Multiple Drone platform for media production
H2020-ICT-2016-1, No 731667
Responsável pela participação do IST-ID no projeto
Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
 Horizon 2020
Concluded
2016/07/01 - 2019/12/31 LOTUS - Load Transportation using Unmanned Aerial Vehicles
PTDC/EEI-AUT/5048/2014
Principal investigator
Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Laboratório de Robótica e Sistemas de Engenharia, Portugal

Instituto de Engenharia Mecânica, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2014/01 - 2018/12 ECOS - Enhanced Motion Tracking for Control of Aerial Robots
Provided by PTCRIS: IF/00921/2013/CP1163/CT0017
Principal investigator
Fundação para a Ciência e a Tecnologia
Concluded
2010/04/01 - 2013/09/30 SCARVE - Sensor-based Control of Autonomous Aerial Vehicles
PTDC/EEA-CRO/102857/2008
Principal investigator
Universidade de Lisboa Instituto Superior Técnico, Portugal

Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
Outputs

Publications

Book chapter
  1. Torres-González, A.; Capitán, J.; Cunha, R.; Ollero, A.; Mademlis, I.. "A multidrone approach for autonomous cinematography planning". 337-349. 2018.
    10.1007/978-3-319-70833-1_28
  2. Gomes, A.; Guerreiro, B.J.; Cunha, R.; Silvestre, C.; Oliveira, P.. "Sensor-based 3-D pose estimation and control of rotary-wing UAVs using a 2-D LiDAR". 718-729. 2018.
    10.1007/978-3-319-70833-1_58
Conference paper
  1. Marcelo Jacinto; João Pinto; Jay Patrikar; John Keller; Rita Cunha; Sebastian Scherer; António Pascoal. "Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation". 2024.
    10.1109/icuas60882.2024.10556959
  2. Tang, Zhiqi; Cunha, Rita; Hamel, Tarek; Silvestre, Carlos; Tang, Z.; Cunha, R.; Hamel, T.; Silvestre, C.. "Constructive Barrier Feedback for Collision Avoidance in Leader-Follower Formation Control". 2023.
    10.1109/cdc49753.2023.10383311
  3. Trindade, Pedro; Cunha, Rita; Batista, Pedro. "First- and Second-Order Consensus with Constant Uniform Delays". 2023.
    10.1109/cdc49753.2023.10384013
  4. Santos, F.; Silvestre, D.; Cunha, R.. "Development and Experimental Validation of a LoRa Wireless Sensor Network for Wildfire Surveillance". 2023.
    10.1109/CCTA54093.2023.10252472
  5. Bastos, T.; Guerreiro, B.; Cunha, R.. "Task Allocation Algorithms for Drone Parcel Delivery Systems". 2022.
    10.1007/978-3-031-10047-5_57
  6. Lemos, J.M.; Parente, F.; Cunha, R.. "Variable Sampling Period Adaptive Control Based on Reinforcement Learning". 2022.
    10.1007/978-3-031-10047-5_51
  7. Serrano, G.; J. Guerreiro, B.; Cunha, R.. "Nonlinear Control of Hybrid Drones via Optimised Control Allocation". 2022.
    10.1007/978-3-031-10047-5_19
  8. Trindade, P.; Cunha, R.; Batista, P.. "Consensus: Optimal Coupling Gain Design". 2022.
    10.23919/ACC53348.2022.9867613
  9. Tang, Z.; Cunha, R.; Hamel, T.; Silvestre, C.; Tang, Zhiqi; Cunha, Rita; Hamel, Tarek; Silvestre, Carlos. "Bearing formation control under switching graph topologies". Paper presented in European control conference 2022, 2022.
    Accepted • 10.23919/ECC55457.2022.9838003
  10. Ferreira, I.; Lemos, J.M.; Cunha, R.. "Reinforcement Learning Based Adaptive Control for Tumor Reduction". 2022.
    10.1109/ICCAD55197.2022.9854034
  11. Oliveira, T.; Trindade, P.; Cabecinhas, D.; Batista, P.; Cunha, R.. "Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles". 2021.
    10.1109/ICARSC52212.2021.9429816
  12. Pinto, J.; Guerreiro, B.J.; Cunha, R.. "Planning Parcel Relay Manoeuvres for Quadrotors". 2021.
    10.1109/ICUAS51884.2021.9476757
  13. Tang, Zhiqi; Cunha, Rita; Hamel, Tarek; Silvestre, Carlos. "Bearing-only formation control under persistence of excitation". 2020.
    10.1109/cdc42340.2020.9304210
  14. Casau, Pedro; Cunha, Rita; Silvestre, Carlos. "Improved Maneuverability for Multirotor Aerial Vehicles using Globally Stabilizing Feedbacks". 2020.
    10.23919/acc45564.2020.9147743
  15. Tang, Z.; Cunha, R.; Hamel, T.; Silvestre, C.. "Bearing leader-follower formation control under persistence of excitation". 2020.
    10.1016/j.ifacol.2020.12.1589
  16. Trindade, P.; Cunha, R.; Batista, P.. "Distributed formation control of double-integrator vehicles with disturbance rejection". 2020.
    10.1016/j.ifacol.2020.12.1045
  17. Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Global practical tracking for a hovercraft with unmeasured linear velocity and disturbances". 2020.
    10.1016/j.ifacol.2020.12.1482
  18. Sabetghadam, B.; Cunha, R.; Pascoal, A.. "Real-time trajectory generation for multiple drones using bézier curves". 2020.
    10.1016/j.ifacol.2020.12.2380
  19. Sabetghadam, B.; Alcantara, A.; Capitan, J.; Cunha, R.; Ollero, A.; Pascoal, A.. "Optimal trajectory planning for autonomous drone cinematography". 2019.
    10.1109/ECMR.2019.8870950
  20. Valentim, T.; Cunha, R.; Oliveira, P.; Cabecinhas, D.; Silvestre, C.. "Multi-vehicle cooperative control for load transportation". 2019.
    10.1016/j.ifacol.2019.11.269
  21. Lu, D.; Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Path Following Controller Design for an Underactuated Hovercraft with External Disturbances". 2019.
    10.23919/ICCAS47443.2019.8971493
  22. Marques, M.; Guerreiro, B.J.; Cunha, R.; Silvestre, C.. "Trajectory planning and control for drone replacement for multidrone cinematography". 2019.
    10.1016/j.ifacol.2019.11.265
  23. Yu, G.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Quadrotor trajectory generation and tracking for aggressive maneuvers with attitude constraints". 2019.
    10.1016/j.ifacol.2019.11.069
  24. Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Trajectory tracking control of an underactuated autonomous surface craft in the presence of environmental disturbances". 2019.
    10.1109/ICSPC47137.2019.9068012
  25. Bai, P.; Guerreiro, B.; Cunha, R.; Kornatowski, P.; Floreano, D.; Silvestre, C.. "Wall-contact sliding control strategy for a 2D caged quadrotor". 2018.
  26. Casau, P.; Cunha, R.; Sanfelice, R.G.; Silvestre, C.. "Hybrid feedback for global asymptotic stabilization on a compact manifold". 2018.
    10.1109/CDC.2017.8263998
  27. Sabetghadam, B.; Cunha, R.; Pascoal, A.. "Cooperative Motion Planning with Time, Energy and Active Navigation Constraints". 2018.
    10.1109/AUV.2018.8729781
  28. Tang, Z.; Cunha, R.; Hamel, T.; Silvestre, C.. "Going through a window and landing a quadrotor using optical flow". 2018.
    10.23919/ECC.2018.8550193
  29. Yu, G.; Li, J.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A nonlinear trajectory tracking controller for helicopters: Design and experimental evaluation". 2016.
    10.1109/TENCON.2015.7373191
  30. Tang, Z.; Li, L.; Serra, P.; Cabecinhas, D.; Hamel, T.; Cunha, R.; Silvestre, C.. "Homing on a moving dock for a quadrotor vehicle". 2016.
    10.1109/TENCON.2015.7373193
  31. Heng, X.; Cabecinhas, D.; Cunha, R.; Silvestre, C.; Qingsong, X.. "A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation". 2016.
    10.1109/TENCON.2015.7372729
  32. Cunha, R.; Cabecinhas, D.; Silvestre, C.. "Nonlinear trajectory tracking control of a quadrotor vehicle". 2015.
  33. Pereira, P.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "Trailer-like leader following trajectory planning". 2014.
    10.1109/CDC.2014.7039969
  34. Pereira, P.; Cabecinhas, D.; Cunha, R.; Silvestre, C.; Oliveira, P.. "Three dimensional trajectory planner for real time leader following". 2014.
    10.1109/ICRA.2014.6907827
  35. Serra, P.; Cunha, R.; Hamel, T.; Cabecinhas, D.; Silvestre, C.. "Landing on a moving target using image-based visual servo control". 2014.
    10.1109/CDC.2014.7039721
  36. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A robust landing and sliding maneuver controller for a quadrotor vehicle on a sloped incline". 2014.
    10.1109/ICRA.2014.6906905
  37. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A nonlinear quadrotor trajectory tracking controller with disturbance rejection". 2014.
    10.1109/ACC.2014.6858615
  38. Casau, P.; Sanfelice, R.G.; Cunha, R.; Cabecinhas, D.; Silvestre, C.. "A hybrid feedback controller for robust global trajectory tracking of quadrotor-like vehicles with minimized attitude error". 2014.
    10.1109/ICRA.2014.6907784
  39. Vasconcelos, J.F.; Cunha, R.; Silvestre, C.; Oliveira, P.. "Stability of a nonlinear attitude observer on SO(3) with nonideal angular velocity measurements". 2014.
  40. Guerreiro, B.J.; Silvestre, C.; Cunha, R.; Pascoal, A.. "Trajectory tracking nonlinear model predictive control for autonomous surface craft". 2013.
    10.1109/TCST.2014.2303805
  41. Silvestre, D.; Rosa, P.; Cunha, R.; Hespanha, J.P.; Silvestre, C.. "Gossip average consensus in a byzantine environment using stochastic set-valued observers". 2013.
    10.1109/CDC.2013.6760562
  42. Casau, P.; Sanfelice, R.G.; Cunha, R.; Cabecinhas, D.; Silvestre, C.. "Global trajectory tracking for a class of underactuated vehicles". 2013.
  43. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection". 2013.
  44. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Experimental validation of a globally stabilizing feedback controller for a quadrotor aircraft with wind disturbance rejection". 2013.
  45. Roldao, V.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "A novel leader-following strategy applied to formations of quadrotors". 2013.
  46. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Saturated output feedback control of a quadrotor aircraft". 2012.
  47. Cabecinhas, D.; Bras, S.; Silvestre, C.; Oliveira, P.; Cunha, R.. "Integrated solution to quadrotor stabilization and attitude estimation using a pan and tilt camera". 2012.
    10.1109/CDC.2012.6426201
  48. Casau, P.; Sanfelice, R.G.; Cunha, R.; Silvestre, C.. "A landmark-based controller for global asymptotic stabilization on SE(3)". 2012.
    10.1109/CDC.2012.6426535
  49. Serra, P.; Cunha, R.; Silvestre, C.; Hamel, T.. "Visual servo aircraft control for tracking parallel curves". 2012.
    10.1109/CDC.2012.6426240
  50. Brás, S.; Silvestre, C.; Oliveira, P.; Vasconcelos, J.F.; Cunha, R.. "An experimentally validated attitude observer based on range and inertial measurements". 2011.
    10.3182/20110828-6-IT-1002.02498
  51. Cabecinhas, D.; Naldi, R.; Marconi, L.; Silvestre, C.; Cunha, R.. "Robust take-off and landing for a quadrotor vehicle". 2010.
    10.1109/ROBOT.2010.5509430
  52. Serra, P.; Le Bras, F.; Hamel, T.; Silvestre, C.; Cunha, R.. "Nonlinear IBVS controller for the flare maneuver of fixed-wing aircraft using optical flow". 2010.
    10.1109/CDC.2010.5717829
  53. Guerreiro, B.J.; Silvestre, C.; Cunha, R.. "Laser-based trajectory tracking H2 control of autonomous rotorcraft". 2010.
  54. Brás, S.; Cunha, R.; Vasconcelos, J.F.; Silvestre, C.; Oliveira, P.. "Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements". 2010.
  55. Cabecinhas, D.; Silvestre, C.; Cunha, R.. "Vision-based quadrotor stabilization using a pan and tilt camera". 2010.
    10.1109/CDC.2010.5717082
  56. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Rotorcraft path following control for extended flight envelope coverage". 2009.
    10.1109/CDC.2009.5400665
  57. Brás, S.; Cunha, R.; Vasconcelos, J.F.; Silvestre, C.; Oliveira, P.. "Nonlinear attitude estimation using active vision and inertial measurements". 2009.
    10.1109/CDC.2009.5400904
  58. Aguiar, A.; Almeida, J.; Bayat, M.; Cardeira, B.; Cunha, R.; Hausler, A.; Maurya, P.; et al. "Networked control of multiple marine vehicles: Theoretical and practical challenges in the scope of the EU GREX project". 2009.
  59. Guerreiro, B.J.; Silvestre, C.; Cunha, R.; Cao, C.; Hovakimyan, N.. "L1 adaptive control for autonomous rotorcraft". 2009.
    10.1109/ACC.2009.5159940
  60. Pedro Aguiar, A.; Almeida, J.; Bayat, M.; Cardeira, B.; Cunha, R.; Häusler, A.; Maurya, P.; et al. "Cooperative control of multiple marine vehicles: Theoretical challenges and practical issues". 2009.
    10.3182/20090916-3-BR-3001.0072
  61. Aguiar, A.; Almeida, J.; Bayat, M.; Cardeira, B.; Cunha, R.; Häusler, A.; Maurya, P.; et al. "Cooperative autonomous marine vehicle motion control in the scope of the EU GREX Project: Theory and practice". 2009.
    10.1109/OCEANSE.2009.5278135
  62. Guerreiro, B.J.N.; Silvestre, C.; Cunha, R.. "Terrain avoidance model predictive control for autonomous rotorcraft". 2008.
    10.3182/20080706-5-KR-1001.1928
  63. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Output-feedback control for almost global stabilization of fully-actuated rigid bodies". 2008.
    10.1109/CDC.2008.4738956
  64. Serra, P.; Cunha, R.; Silvestre, C.. "On the design of rotorcraft landing controllers". 2008.
    10.1109/MED.2008.4602276
  65. Antunes, D.; Silvestre, C.; Cunha, R.. "Multi-rate path-following control for unmanned air vehicles". 2008.
    10.3182/20080706-5-KR-1001.1988
  66. Antunes, D.; Silvestre, C.; Cunha, R.. "Linear parameter varying control for sampled-data multi-rate systems". 2008.
    10.3182/20080706-5-KR-1001.1534
  67. Vasconcelos, J.F.; Cunha, R.; Silvestre, C.; Oliveira, P.J.. "A landmark based nonlinear observer for attitude and position estimation with bias compensation". 2008.
    10.3182/20080706-5-KR-1001.2634
  68. Alcocer, A.; Oliveira, P.; Pascoal, A.; Cunha, R.; Silvestre, C.. "A dynamic estimator on SE(3) using range-only measurements". 2008.
    10.1109/CDC.2008.4739183
  69. Cunha, R.; Silvestre, C.; Hespanha, J.; Aguiar, A.P.. "Vision-based control for rigid body stabilization". 2007.
    10.1109/CDC.2007.4434472
  70. Guerreiro, B.; Silvestre, C.; Cunha, R.; Antunes, D.. "Trajectory tracking H2 controller for autonomous helicopters: An application to industrial chimney inspection". 2007.
  71. Cabecinhas, D.; Silvestre, C.; Rosa, P.; Cunha, R.. "Path-following control for coordinated turn aircraft maneuvers". 2007.
  72. Antunes, D.; Silvestr, C.; Cunha, R.. "On the design of multi-rate tracking controllers: An application to rotorcraft guidance and control". 2007.
  73. Vasconcelos, J.E.; Cunha, R.; Silvestre, C.; Oliveira, P.. "Landmark based nonlinear observer for rigid body attitude and position estimation". 2007.
    10.1109/CDC.2007.4434417
  74. Rosa, P.; Silvestre, C.; Cabecinhas, D.; Cunha, R.. "Autolanding controller for a fixed wing unmanned air vehicle". 2007.
  75. Gomes, P.; Silvestre, C.; Pascoal, A.; Cunha, R.. "A coastline following preview controller for the DELFIMx vehicle". 2007.
  76. Cunha, R.; Silvestre, C.; Hespanha, J.. "Output-feedback control for stabilization on SE(3)". 2006.
    10.1016/j.sysconle.2008.06.008
  77. Cunha, R.; Antunes, D.; Gomes, P.; Silvestre, C.. "A path-following preview controller for autonomous air vehicles". 2006.
  78. Paulino, N.; Silvestre, C.; Cunha, R.; Pascoal, A.. "A bottom-following preview controller for autonomous underwater vehicles". 2006.
    10.1109/TCST.2008.922560
  79. Paulino, N.; Silvestre, C.; Cunha, R.. "Terrain following controller for affine parameter-dependent systems: An application to model-scale helicopters". 2005.
  80. Cunha, R.; Silvestre, C.. "A 3D path-following velocity-tracking controller for autonomous vehicles". 2005.
  81. G. Libório; Nuno Paulino; Cunha, Rita; Silvestre, Carlos; Ribeiro, Isabel. "Terrain following preview controller for model-scale helicopters". Paper presented in 11th Int. Conf. on Advanced Robotics, ICAR03, Coimbra, 2003.
  82. Cunha, R.; Silvestre, C.. "Dynamic modeling and stability analysis of model-scale helicopters with bell-hiller stabilizing bar". 2003.
    10.2514/6.2003-5349
  83. Cunha, R.; Silvestre, C.; Pascoal, A.. "A path following controller for model-scale helicopters". 2003.
  84. Cunha, R.A.; Figueiredo, M.T.; Silvestre, C.J.. "Simultaneous compression and denoising of side scan sonar images using the discrete wavelet transform". 2000.
Journal article
  1. Pedro Trindade; Pedro Batista; Rita Cunha. "Delay-margin design in consensus for high-order integrator agents". Automatica (2025): http://dx.doi.org/10.1016/j.automatica.2025.112173.
    10.1016/j.automatica.2025.112173
  2. João Pinto; Bruno J. Guerreiro; Rita Cunha. "Planning Aggressive Drone Manoeuvres: A Geometric Backwards Integration Approach". Journal of Intelligent & Robotic Systems (2025): https://doi.org/10.1007/s10846-024-02214-z.
    10.1007/s10846-024-02214-z
  3. Bahareh Sabetghadam; Rita Cunha; António Pascoal. "Enforcing Temporal and Spatial Separation Constraints in Multi-vehicle Trajectory Generation Problems using a Bernstein Relaxation and Refinement Method". IEEE Robotics and Automation Letters (2025): http://dx.doi.org/10.1109/lra.2025.3541458.
    10.1109/lra.2025.3541458
  4. Daniel Leitão; Rita Cunha; João M. Lemos. "Adaptive Control of Quadrotors in Uncertain Environments". Eng (2024): https://doi.org/10.3390/eng5020030.
    10.3390/eng5020030
  5. Mademlis, I.; Torres-González, A.; Capitán, J.; Montagnuolo, M.; Messina, A.; Negro, F.; Le Barz, C.; et al. "A multiple-UAV architecture for autonomous media production". Multimedia Tools and Applications 82 2 (2023): 1905-1934. http://www.scopus.com/inward/record.url?eid=2-s2.0-85131835112&partnerID=MN8TOARS.
    10.1007/s11042-022-13319-8
  6. Yu, G.; Xie, W.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Adaptive control with unknown mass estimation for a quadrotor-slung-load system". ISA Transactions 133 (2023): 412-423. http://www.scopus.com/inward/record.url?eid=2-s2.0-85133745714&partnerID=MN8TOARS.
    10.1016/j.isatra.2022.06.036
  7. Trindade, P.; Batista, P.; Cunha, R.. "Third-order consensus for robust distributed formation control of double integrator vehicles". Control Engineering Practice 133 (2023): http://www.scopus.com/inward/record.url?eid=2-s2.0-85146902047&partnerID=MN8TOARS.
    10.1016/j.conengprac.2023.105436
  8. Yu, G.; Reis, J.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Reduced-Complexity Active Disturbance Rejection Controller for Quadrotor-Slung-Load Transportation". IEEE Transactions on Systems, Man, and Cybernetics: Systems 53 8 (2023): 5248-5259. http://www.scopus.com/inward/record.url?eid=2-s2.0-85153484938&partnerID=MN8TOARS.
    10.1109/TSMC.2023.3263881
  9. Pataro, I.M.L.; Cunha, R.; Gil, J.D.; Guzmán, J.L.; Berenguel, M.; Lemos, J.M.. "Optimal model-free adaptive control based on reinforcement Q-Learning for solar thermal collector fields". Engineering Applications of Artificial Intelligence 126 (2023): http://www.scopus.com/inward/record.url?eid=2-s2.0-85165545609&partnerID=MN8TOARS.
    10.1016/j.engappai.2023.106785
  10. Zhiqi Tang; Rita Cunha; Tarek Hamel; Carlos Silvestre. "Some properties of time-varying bearing formation". European Journal of Control (2022): https://doi.org/10.1016/j.ejcon.2022.100699.
    10.1016/j.ejcon.2022.100699
  11. Tang, Zhiqi; Cunha, Rita; Hamel, Tarek; Silvestre, Carlos. "Relaxed bearing rigidity and bearing formation control under persistence of excitation". Automatica 141 (2022): 110289. http://dx.doi.org/10.1016/j.automatica.2022.110289.
    10.1016/j.automatica.2022.110289
  12. Marcelo Jacinto; Rita Cunha; António Pascoal. "Chemical Spill Encircling Using a Quadrotor and Autonomous Surface Vehicles: A Distributed Cooperative Approach". Sensors (2022): https://doi.org/10.3390/s22062178.
    10.3390/s22062178
  13. Bahareh Sabetghadam; Rita Cunha; António Pascoal. "A Distributed Algorithm for Real-Time Multi-Drone Collision-Free Trajectory Replanning". Sensors 22 5 (2022): 1855-1855. https://doi.org/10.3390/s22051855.
    10.3390/s22051855
  14. André M. Rocha; Pedro Casau; Rita Cunha. "A Control Algorithm for Early Wildfire Detection Using Aerial Sensor Networks: Modeling and Simulation". Drones 6 2 (2022): 44-44. https://doi.org/10.3390/drones6020044.
    10.3390/drones6020044
  15. Sneha Gajbhiye; David Cabecinhas; Carlos Silvestre; Rita Cunha. "Geometric finite-time inner-outer loop trajectory tracking control strategy for quadrotor slung-load transportation". Nonlinear Dynamics 107 3 (2022): 2291-2308. https://doi.org/10.1007/s11071-021-07026-6.
    10.1007/s11071-021-07026-6
  16. Yu, G.; Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and tracking". Autonomous Robots 46 4 (2022): 499-513. http://www.scopus.com/inward/record.url?eid=2-s2.0-85125766930&partnerID=MN8TOARS.
    10.1007/s10514-022-10035-y
  17. Zhiqi Tang; Rita Cunha; David Cabecinhas; Tarek Hamel; Carlos Silvestre. "Quadrotor going through a window and landing: An image-based visual servo control approach". Control Engineering Practice 112 (2021): 104827-104827. https://doi.org/10.1016/j.conengprac.2021.104827.
    10.1016/j.conengprac.2021.104827
  18. Cunha, Rita. "Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles". Robotics and Autonomous Systems 140 (2021): 103778-103778. http://dx.doi.org/10.1016/j.robot.2021.103778.
    10.1016/j.robot.2021.103778
  19. Xie, Wei; Yu, Gan; Cabecinhas, David; Cunha, Rita; Silvestre, Carlos. "Global Saturated Tracking Control of a Quadcopter With Experimental Validation". IEEE Control Systems Letters 5 1 (2021): 169-174. http://dx.doi.org/10.1109/lcsys.2020.3000561.
    10.1109/lcsys.2020.3000561
  20. Xie, Wei; Cabecinhas, David; Cunha, Rita; Silvestre, Carlos. "Adaptive Backstepping Control of a Quadcopter with Uncertain Vehicle Mass, Moment of Inertia, and Disturbances". IEEE Transactions on Industrial Electronics (2021): 1-1. http://dx.doi.org/10.1109/tie.2021.3055181.
    10.1109/tie.2021.3055181
  21. Sabetghadam, Bahareh; Cunha, Rita; Pascoal, Antonio. "Trajectory Generation for Drones in Confined Spaces using an Ellipsoid Model of the Body". IEEE Control Systems Letters (2021): 1-1. http://dx.doi.org/10.1109/lcsys.2021.3088406.
    10.1109/lcsys.2021.3088406
  22. Tang, Z.; Cunha, R.; Hamel, T.; Silvestre, C.. "Formation control of a leader–follower structure in three dimensional space using bearing measurements". Automatica 128 (2021): http://www.scopus.com/inward/record.url?eid=2-s2.0-85103240044&partnerID=MN8TOARS.
    10.1016/j.automatica.2021.109567
  23. Pedro Casau; Rita Cunha; Ricardo G. Sanfelice; Carlos Silvestre; Cunha, Rita. "Hybrid Control for Robust and Global Tracking on Smooth Manifolds". IEEE Transactions on Automatic Control (2020): 1-1. https://doi.org/10.1109/TAC.2019.2927708.
    10.1109/TAC.2019.2927708
  24. Cunha, Rita. "Autonomous Execution of Cinematographic Shots With Multiple Drones". IEEE Access 8 (2020): 201300-201316. http://dx.doi.org/10.1109/access.2020.3036239.
    10.1109/access.2020.3036239
  25. Xie, Wei; Cabecinhas, David; Cunha, Rita; Silvestre, Carlos. "Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances". IEEE Transactions on Systems, Man, and Cybernetics: Systems (2020): 1-13. http://dx.doi.org/10.1109/tsmc.2020.3032401.
    10.1109/tsmc.2020.3032401
  26. Gan Yu; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Nonlinear Backstepping Control of a Quadrotor-Slung Load System". IEEE/ASME Transactions on Mechatronics 24 5 (2019): 2304-2315. https://doi.org/10.1109/TMECH.2019.2930211.
    10.1109/TMECH.2019.2930211
  27. Wei Xie; David Cabecinhas; Rita Cunha; Carlos Silvestre. "Robust Motion Control of an Underactuated Hovercraft". IEEE Transactions on Control Systems Technology 27 5 (2019): 2195-2208. https://doi.org/10.1109/TCST.2018.2862861.
    10.1109/TCST.2018.2862861
  28. David Cabecinhas; Sergio Bras; Rita Cunha; Carlos Silvestre; Paulo Oliveira. "Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera". IEEE Transactions on Control Systems Technology 27 1 (2019): 14-29. https://doi.org/10.1109/TCST.2017.2768515.
    10.1109/TCST.2017.2768515
  29. Pedro Pereira; Rita Cunha; David Cabecinhas; Carlos Silvestre; Paulo Oliveira. "A 3-D Trailer Approach to Leader-Following Formation Control". IEEE Transactions on Control Systems Technology (2019): 1-17. https://doi.org/10.1109/TCST.2019.2939119.
    10.1109/TCST.2019.2939119
  30. Tang, Z.; Cunha, R.; Hamel, T.; Silvestre, C.. "Aircraft landing using dynamic two-dimensional image-based guidance control". IEEE Transactions on Aerospace and Electronic Systems 55 5 (2019): 2104-2117. http://www.scopus.com/inward/record.url?eid=2-s2.0-85056579125&partnerID=MN8TOARS.
    10.1109/TAES.2018.2881354
  31. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A trajectory tracking control law for a quadrotor with slung load". Automatica 106 (2019): 384-389. http://www.scopus.com/inward/record.url?eid=2-s2.0-85066086742&partnerID=MN8TOARS.
    10.1016/j.automatica.2019.04.030
  32. Guerreiro, B.J.; Silvestre, C.; Cunha, R.; Cabecinhas, D.. "LiDAR-Based Control of Autonomous Rotorcraft for the Inspection of Pierlike Structures". IEEE Transactions on Control Systems Technology 26 4 (2018): 1430-1438. http://www.scopus.com/inward/record.url?eid=2-s2.0-85020482506&partnerID=MN8TOARS.
    10.1109/TCST.2017.2705058
  33. Pereira, P.O.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "Leader following trajectory planning: A trailer-like approach". Automatica 75 (2017): 77-87. http://www.scopus.com/inward/record.url?eid=2-s2.0-84993939787&partnerID=MN8TOARS.
    10.1016/j.automatica.2016.09.001
  34. Pedro Serra; Rita Cunha; Tarek Hamel; David Cabecinhas; Carlos Silvestre. "Landing of a Quadrotor on a Moving Target Using Dynamic Image-Based Visual Servo Control". IEEE Transactions on Robotics 32 6 (2016): 1524-1535. https://doi.org/10.1109/TRO.2016.2604495.
    10.1109/TRO.2016.2604495
  35. Cabecinhas, D.; Naldi, R.; Silvestre, C.; Cunha, R.; Marconi, L.. "Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle". IEEE Transactions on Control Systems Technology (2015): http://www.scopus.com/inward/record.url?eid=2-s2.0-84941136554&partnerID=MN8TOARS.
    10.1109/TCST.2015.2454445
  36. Casau, P.; Sanfelice, R.G.; Cunha, R.; Cabecinhas, D.; Silvestre, C.. "Robust global trajectory tracking for a class of underactuated vehicles". Automatica 58 (2015): 90-98. http://www.scopus.com/inward/record.url?eid=2-s2.0-84931359794&partnerID=MN8TOARS.
    10.1016/j.automatica.2015.05.011
  37. Serra, P.; Cunha, R.; Hamel, T.; Silvestre, C.; Le Bras, F.. "Nonlinear image-based visual servo controller for the flare maneuver of fixed-wing aircraft using optical flow". IEEE Transactions on Control Systems Technology 23 2 (2015): 570-583. http://www.scopus.com/inward/record.url?eid=2-s2.0-84923228241&partnerID=MN8TOARS.
    10.1109/TCST.2014.2330996
  38. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A globally stabilizing path following controller for rotorcraft with wind disturbance rejection". IEEE Transactions on Control Systems Technology 23 2 (2015): 708-714. http://www.scopus.com/inward/record.url?eid=2-s2.0-84923225492&partnerID=MN8TOARS.
    10.1109/TCST.2014.2326820
  39. Casau, P.; Sanfelice, R.G.; Cunha, R.; Silvestre, C.. "A globally asymptotically stabilizing trajectory tracking controller for fully actuated rigid bodies using landmark-based information". International Journal of Robust and Nonlinear Control 25 18 (2015): 3617-3640. http://www.scopus.com/inward/record.url?eid=2-s2.0-84955072326&partnerID=MN8TOARS.
    10.1002/rnc.3283
  40. Guerreiro, B.J.; Silvestre, C.; Cunha, R.; Pascoal, A.. "Trajectory tracking nonlinear model predictive control for autonomous surface craft". IEEE Transactions on Control Systems Technology 22 6 (2014): 2160-2175. http://www.scopus.com/inward/record.url?eid=2-s2.0-84908253534&partnerID=MN8TOARS.
    10.1109/TCST.2014.2303805
  41. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "A nonlinear quadrotor trajectory tracking controller with disturbance rejection". Control Engineering Practice 26 1 (2014): 1-10. http://www.scopus.com/inward/record.url?eid=2-s2.0-84897713304&partnerID=MN8TOARS.
    10.1016/j.conengprac.2013.12.017
  42. Roldão, V.; Cunha, R.; Cabecinhas, D.; Silvestre, C.; Oliveira, P.. "A leader-following trajectory generator with application to quadrotor formation flight". Robotics and Autonomous Systems 62 10 (2014): 1597-1609. http://www.scopus.com/inward/record.url?eid=2-s2.0-84906315984&partnerID=MN8TOARS.
    10.1016/j.robot.2014.05.002
  43. Brás, S.; Cunha, R.; Silvestre, C.J.; Oliveira, P.J.. "Nonlinear attitude observer based on range and inertial measurements". IEEE Transactions on Control Systems Technology 21 5 (2013): 1889-1897. http://www.scopus.com/inward/record.url?eid=2-s2.0-84897611491&partnerID=MN8TOARS.
    10.1109/TCST.2012.2213821
  44. Guerreiro, B.J.N.; Silvestre, C.; Cunha, R.. "Terrain avoidance nonlinear model predictive control for autonomous rotorcraft". Journal of Intelligent and Robotic Systems: Theory and Applications 68 1 (2012): 69-85. http://www.scopus.com/inward/record.url?eid=2-s2.0-84865656113&partnerID=MN8TOARS.
    10.1007/s10846-012-9669-6
  45. Cabecinhas, D.; Naldi, R.; Marconi, L.; Silvestre, C.; Cunha, R.. "Robust take-off for a quadrotor vehicle". IEEE Transactions on Robotics 28 3 (2012): 734-742. http://www.scopus.com/inward/record.url?eid=2-s2.0-84862001647&partnerID=MN8TOARS.
    10.1109/TRO.2012.2187095
  46. Cunha, R.; Silvestre, C.; Hespanha, J.; Pedro Aguiar, A.. "Vision-based control for rigid body stabilization". Automatica 47 5 (2011): 1020-1027. http://www.scopus.com/inward/record.url?eid=2-s2.0-79954659700&partnerID=MN8TOARS.
    10.1016/j.automatica.2011.01.062
  47. Brás, S.; Cunha, R.; Vasconcelos, J.F.; Silvestre, C.; Oliveira, P.. "A nonlinear attitude observer based on active vision and inertial measurements". IEEE Transactions on Robotics 27 4 (2011): 664-677. http://www.scopus.com/inward/record.url?eid=2-s2.0-80051680664&partnerID=MN8TOARS.
    10.1109/TRO.2011.2112950
  48. Vasconcelos, J.F.; Cunha, R.; Silvestre, C.; Oliveira, P.. "A nonlinear position and attitude observer on SE(3) using landmark measurements". Systems and Control Letters 59 3-4 (2010): 155-166. http://www.scopus.com/inward/record.url?eid=2-s2.0-77950020467&partnerID=MN8TOARS.
    10.1016/j.sysconle.2009.11.008
  49. Antunes, D.; Silvestre, C.; Cunha, R.. "On the design of multi-rate tracking controllers: Application to rotorcraft guidance and control". International Journal of Robust and Nonlinear Control 20 16 (2010): 1879-1902. http://www.scopus.com/inward/record.url?eid=2-s2.0-84871600957&partnerID=MN8TOARS.
    10.1002/rnc.1557
  50. Conte, G.; Gambella, L.; Scaradozzi, D.; Zanoli, S.; Caiti, A.; Calabrò, V.; Alcocer, A.; et al. "Underwater vehicle technology in the European research project VENUS 1". Underwater Technology 28 4 (2009): 175-185. http://www.scopus.com/inward/record.url?eid=2-s2.0-72149107834&partnerID=MN8TOARS.
    10.3723/ut.28.175
  51. Cabecinhas, D.; Cunha, R.; Silvestre, C.. "Almost global stabilization of fully-actuated rigid bodies". Systems and Control Letters 58 9 (2009): 639-645. http://www.scopus.com/inward/record.url?eid=2-s2.0-67650217549&partnerID=MN8TOARS.
    10.1016/j.sysconle.2009.04.007
  52. Silvestre, C.; Cunha, R.; Paulino, N.; Pascoal, A.. "A bottom-following preview controller for autonomous underwater vehicles". IEEE Transactions on Control Systems Technology 17 2 (2009): 257-266. http://www.scopus.com/inward/record.url?eid=2-s2.0-63049095252&partnerID=MN8TOARS.
    10.1109/TCST.2008.922560
  53. Cunha, R.; Silvestre, C.; Hespanha, J.. "Output-feedback control for stabilization on SE (3)". Systems and Control Letters 57 12 (2008): 1013-1022. http://www.scopus.com/inward/record.url?eid=2-s2.0-53349166330&partnerID=MN8TOARS.
    10.1016/j.sysconle.2008.06.008
  54. Paulino, N.; Silvestre, C.; Cunha, R.. "Affine parameter-dependent preview control for rotorcraft terrain following flight". Journal of Guidance, Control, and Dynamics 29 6 (2006): 1350-1359. http://www.scopus.com/inward/record.url?eid=2-s2.0-33845476676&partnerID=MN8TOARS.
    10.2514/1.19341

Other

Other output
  1. LiDAR-Based control of autonomous rotorcraft for the inspection of pier-like structures: Proofs. 2017. Guerreiro, B.J.; Silvestre, C.; Cunha, R.; Cabecinhas, D.. http://www.scopus.com/inward/record.url?eid=2-s2.0-85095547672&partnerID=MN8TOARS.
    10.1007/978-3-319-27146-0_47
Activities

Oral presentation

Presentation title Event name
Host (Event location)
2018/06 Aerial Robotics at ISR LARSyS 2018 Annual Meeting
2018/01 Advances in Motion Control of Aerial Robots DEEC JD Lecture Series
Department of Electrical and Computer Engineering, Instituto Superior Técnico
2018 Drone Flight and Formation Control ICARUS Special Interest Group
University of Thessaloniki
2018 Aerial Robotics IST’s Aerospace Week
Instituto Superior Técnico
2017 Drone Formation and Flight Control ICCV Tutorial on Drone Vision for Cinematography
International Conference on Computer Vision (Venice)
2017 Load Transportation using Quadrotor Vehicles Marine Unmanned Aerial Systems Summer School
Marine UAS Marie Curie PhD Program
2016 Landing on a Moving Target using Image-based Control Marine and Coastal Science Workshop
Marine UAS Marie Curie PhD program
2015 Nonlinear Control of Autonomous Aerial Vehicles LARSyS 2015 Annual Meeting
2014 Advances in Motion Control of Rotorcraft - Single and Multi-Vehicle Systems LARSyS 2014 Annual Meeting
2013 On the Control of Autonomous Air Vehicles - Theory and Practice LARSyS 2013 Annual Meeting

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2019 - Current Decentralized Control of Multi-Agent Systems,
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - Current Cooperative Motion Planning for Multiple Autonomous Vehicles
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - Current Nonlinear Control and Trajectory Generation for a Quadrotor and a Quadrotor with Slung Load
Co-supervisor
Macau University of Science and Technology, Macau SAR China
2023 - 2023 Autonomous Aerial Cinematography - Distributed Target Tracking, Motion Planning and Control of Aerial Vehicles Moving in Unstructured Environments
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2023 - 2023 "Distributed Trajectory Generation for Multiple Autonomous Vehicles Using Bernstein Polynomial-based Methods"
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2022 - 2022 Hybrid distributed allocation, control, and guidance for cooperative on orbit servicing
Co-supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles
Co-supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 Nonlinear Control of Hybrid Drones via optimised control allocation
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 Coordinated Control of quadcopters for large object positioning
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 Model predictive control strategies for aggressive parcel relay maneuvers using drones
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 MPC Motion Control of an Autonomous Car
Co-supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 Decentralized Formation Control of Autonomous Vehicles
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2017 - 2021 Nonlinear Control of Underactuated Systems
Co-supervisor
Macau University of Science and Technology, Macau SAR China
2020 - 2020 Task Allocation Algorithms for a Cooperative Drone Parcel Delivery System
Co-supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2019 - 2020 Global Asymptotic Stabilisation on Lie Groups and Applications
Supervisor
 Engenharia Aeroespacial
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - 2020 Visual Servo Control for Aerial Vehicles
Co-supervisor
 Engenharia Eletrotécnica e de Computadores
Universidade de Lisboa Instituto Superior Técnico, Portugal
2019 - 2019 Motion Planning for Multiple Autonomous Robotic Vehicles using Optimization Tools
Supervisor
 Engenharia Electrotécnica e de Computadores
Universidade de Lisboa Instituto Superior Técnico, Portugal
2019 - 2019 Trajectory planning and control for aerial footage of moving targets
Supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2019 - 2019 Distributed Formation Control of Double-Integrator Vehicles in the Presence of Unknown Constant Disturbances
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2018 - 2019 Multi-vehicle Cooperative Control for Load Transportation
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2018 - 2019 UAV Relay-based Auto-tuning - Tuning the PID controller for a fixed-wing UAV via the relay method
Supervisor
 Engenharia Aeroespacial
Universidade de Lisboa Instituto Superior Técnico, Portugal
2018 - 2018 UAV-based Measurement of Marine Vessels Smoke Plumes - Guidance and Control System
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2018 - 2018 Trajectory planning and control for drone replacement during formation flight
Co-supervisor
 Ciências de Engenharia - Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2017 - 2017 Control of the atmospheric flight phase of small rocket launchers
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - 2016 LiDAR-based Perception and Control for Rotary-wing UAVs in GPS-denied Environments
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2014 - 2016 Image-Based Visual Servo Control of Aerial Vehicles
Co-supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2015 - 2015 Formation Control of Quadrotor Vehicles
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2014 - 2014 Quadrotor Control using Optical-Flow Navigation
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2007 - 2014 Nonlinear control of autonomous air vehicles
Co-supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2013 - 2013 Three Dimensional Trajectory Planner for Real Time Leader Following
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2012 - 2012 Formation Control of Autonomous Air Vehicles
Supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal

Conference scientific committee

Conference name Conference host
2021 - 2021 International Conference on Robotics and Automation, Associate Editor Philadelphia
2019 - 2019 International Conference on Intelligent Robots and Systems, Associate Editor Macau

Course / Discipline taught

Academic session Degree Subject (Type) Institution / Organization
2017/02/01 - Current Aeronaves Robotizadas Mestrado Integrado em Engenharia Aeroespacial (Mestrado integrado) Universidade de Lisboa Instituto Superior Técnico, Portugal
2014/09/01 - Current Controlo Mestrado Integrado em Engenharia Eletrotécnica e de Computadores (Mestrado integrado) Universidade de Lisboa Instituto Superior Técnico, Portugal
2019 - 2020 Fundamentos de Controlo Ciências de Engenharia - Engenharia Electrónica (Licenciatura) Universidade de Lisboa Instituto Superior Técnico Campus Taguspark, Portugal
2013/02/01 - 2013/07/31 Algoritmos e Estruturas de Dados Engenharia Electrotécnica e de Computadores (Mestrado integrado) Universidade de Lisboa Instituto Superior Técnico, Portugal
Distinctions

Award

2019 Best Paper Award, IEEE Conference on Systems, Process, and Control
1999 Merit Scholarship IST/Empresas for MSc Students in Electrical and Computer Engineering
Universidade de Lisboa Instituto Superior Técnico, Portugal

Other distinction

2019 Advisor of the thesis winner of the "Best MSc Thesis in Robotics", SPR
2018 Co-author of paper winner of the "Student Best Paper Award", International Conference 2018 on Control, Automation, and Systems
2015 Co-advisor of the PhD Thesis awarded a Honorable Mention, SPR
2013 Advisor of the thesis winner of the "Best MSc Thesis in Robotics", SPR
2007 Best Student Paper Award at the 17th IFAC Symposium on Automatic Control in Aerospace