## International Journal Papers

[-] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

**"**

**Discrete-time distributed Kalman filter design for formations of autonomous vehicles****Control Engineering Practice, 2018 (in press).**

*,"*[-] D. Cabecinhas, P. Batista, C. Silvestre, and P. Oliveira,

**"**

**Hovercraft control with dynamic parameters identification***IEEE Transactions on Control Systems Technology, 2018 (in press).*

**,"**[34] P. Lourenço, P. Batista, P. Oliveira, and C. 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.*

**,"**[33] P. Lourenço, B. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre,

**"**

**Uncertainty Characterization of the Orthogonal Procrustes Problem with Arbitrary Covariance Matrices***Pattern Recognition, vol. 61, pp. 210-220, January 2017.*

**,"**[32] J. Reis, M. Morgado, P. Batista, P. Oliveira, and C. Silvestre,

**"**

**Design and Experimental Validation of a USBL Underwater Acoustic Positioning System***Sensors, vol. 16, no. 9, September 2016.*

**,"**[31] P. Lourenço, B. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre,

*Autonomous Robots, vol. 40, no. 5, pp. 881-902, June 2016.*

**"Simultaneous Localization and Mapping for Aerial Vehicles: a 3-D sensor-based GAS filter,"**[30] P. Batista, C. Silvestre, and P. Oliveira,

*International Journal of Systems Science, vol. 41, no. 8, pp. 1837-1855, June 2016.*

**"Tightly coupled long baseline/ultra-short baseline integrated navigation system,"**[29] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

**"**

*On the stability of the continuous-time Kalman Filter subject to exponentially decaying perturbations**Systems & Control Letters, vol. 89, pp. 41-46, March 2016.*

**,"**[28] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*International Journal of Robust and Nonlinear Control, vol. 26, no. 5, pp. 963-994, March 2016.*

**"Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies,"**[27] J. Barbosa, C. Cardeira, P. Oliveira, P. Batista, and C. Silvestre,

*"*

*Design and Validation of an RGB-D Based Localization System - Integration in a Docking System**Journal of Intelligent & Robotic Systems, vol. 80, no. 3, pp. 423-440, December 2015.*

*,"*[26] P. Batista, C. Silvestre, and P. Oliveira,

**"***IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no.4, pp. 2887-2899, October 2015.*

**Navigation Systems Based on Multiple Bearing Measurements,"**[25] P. Batista, C. Silvestre, and P. Oliveira,

*International Journal of Robust and Nonlinear Control, vol. 25, no. 10, pp. 1528-1547, July 2015.*

**"A Two-step Control Approach for Docking of Autonomous Underwater Vehicles,"**[24] P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and P. Chen,

*Robotics and Autonomous Systems, vol. 68, pp. 72-85, June 2015.*

**"Sensor-based Globally Exponentially Stable Range-Only Simultaneous Localization and Mapping,"**[23] D. Viegas, P. Batista, P. Oliveira, C. Silvestre, and P. Chen,

**Automatica, vol. 54, pp. 72-79, April 2015.**

*"Distributed state estimation for linear multi-agent systems with time-varying measurement topology,"*[22] P. Batista,

**"***Control Engineering Practice, vol. 35, pp. 43-53, February 2015.*

**Long Baseline Navigation with Clock Offset Estimation and Discrete-Time Measurements,"**[21] P. Batista,

*IEEE Transactions on Control Systems Technology, vol. 23, no. 1, pp. 219-230, January 2015.*

**"GES Long Baseline Navigation with Unknown Sound Velocity and Discrete-time Range Measurements,"**[20] P. Batista, C. Silvestre, and P. Oliveira,

*"*

**Sensor-based Long Baseline Navigation: observability analysis and filter design***Asian Journal of Control, vol. 16, no. 4, pp. 974-994, July 2014.*

*,"*[19] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Position and Velocity Filters for ASC/I-AUV Tandems based on Single Range Measurements**"**Journal of Intelligent & Robotic Systems, vol. 74, no. 3-4, pp. 745-768, June 2014.*

*,"*[18] B. Guerreiro, P. Batista, C. Silvestre, and P. Oliveira,

*IEEE Transactions on Robotics, vol. 29, no. 6, pp. 1380-1395, December 2013.*

*"***Globally Asymptotically Stable Sensor-based Simultaneous Localization and Mapping***,"*[17] P. Batista, C. Silvestre, and P. 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.*

*,"*[16] M. Morgado, P. Batista, P. Oliveira, and C. Silvestre,

**European Journal of Control, vol. 18, no. 5, pp. 485-495, September-October 2012.**

*"Attitude estimation for Intervention-AUVs working in Tandem with Autonomous Surface Crafts,"*[15] P. Batista, C. Silvestre, and P. 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.

[14] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Systems & Control Letters, vol. 61, no. 3, pp. 443-453, March 2012.*

**"Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies,"**[13] P. Batista, C. Silvestre, and P. Oliveira,

**Automatica, vol. 48, no. 2, pp. 388-395, February 2012.**

*"A GES Attitude Observer with Single Vector Observations,"*[12] P. Batista, C. Silvestre, and P. Oliveira,

*Control Engineering Practice, vol. 20, no. 2, pp. 148-155, February 2012.*

**"Globally Exponentially Stable Cascade Observers for Attitude Estimation,"**[11] M. Morgado, P. Batista, P. Oliveira, and C. Silvestre,

*Automatica, vol. 47, no. 12, pp. 2604-2614, December 2011.*

**"Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents,"**[10] P. Batista, C. Silvestre, and P. Oliveira,

*" Journal of Intelligent & Robotic Systems, vol. 64, no. 2, pp. 221-243, November 2011.*

**"Vector-based Attitude Filter for Space Navigation,**[9] P. Batista, C. Silvestre, P. Oliveira, and B. Cardeira,

*IEEE Transactions on Control Systems Technology, vol. 19, no. 5, pp. 1128-1137, September 2011.*

**"Accelerometer Calibration and Dynamic Bias and Gravity Estimation: Analysis, Design, and Experimental Evaluation,"**[8] P. Batista, C. Silvestre, and P. Oliveira,

*Systems & Control Letters, vol. 60, no. 8, pp. 665-673, August 2011.*

**"Single Range Aided Navigation and Source Localization: observability and filter design,"**[7] P. Batista, C. Silvestre, and P. Oliveira,

*International Journal of Control, vol. 84, no. 5, pp. 895-903, May 2011.*

**"Partial Attitude and Rate Gyro Bias Estimation: Observability Analysis, Filter Design, and Performance Evaluation,"**[6] P. Batista, C. Silvestre, and P. Oliveira,

*Systems & Control Letters, vol. 60, no. 2, pp. 101-110, February 2011.*

**"On the Observability of Linear Motion Quantities in Navigation Systems,"**[5] J. Vasconcelos, B. Cardeira, C. Silvestre, P. Oliveira, and P. Batista,

*IEEE Transactions on Control Systems Technology, vol.19, no. 1, pp. 181-198, January 2011.*

**"Discrete-Time Complementary Filters for Attitude and Position Estimation: Design, Analysis and Experimental Validation,"**[4] P. Batista, C. Silvestre, and P. Oliveira,

*International Journal of Robust and Nonlinear Control, vol. 20, no. 15, pp. 1758-1773, October 2010.*

**"A time differences of arrival-based homing strategy for autonomous underwater vehicles,"**[3] P. Batista, C. Silvestre, and P. Oliveira,

*Automatica, vol. 46, no. 4, pp. 767-774, April 2010.*

**"Optimal position and velocity navigation filters for autonomous vehicles,"**[2] P. Batista, C. Silvestre, and P. Oliveira,

*IEEE Transactions on Robotics, vol. 25, no. 3, pp. 701-716, June 2009.*

**"A Sensor-Based Controller for Homing of Underactuated AUVs,"**[1] P. Batista, C. Silvestre, and P. Oliveira,

*IEEE Transactions on Control Systems Technology, vol. 17, no. 3, pp. 707-716, May 2009.*

**"Position and Velocity Navigation Systems for Unmanned Vehicles,"**## Book Chapters

[1] P. Lourenço, B. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre,

**"**

**New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation***Sensing and Control for Autonomous Vehicles, Lecture Notes in Control and Information Sciences, vol. 474, T. Fossen, K. Pettersen e H. Nijmeijer, Eds., Springer International Publishing, Jul. 2017, pp. 121-141.*

**,"**## International Conference Papers

[60] P. Batista, N. Petit, C. Silvestre, and P. Oliveira,

*"*

*Relaxed conditions for uniform complete observability and controllability of LTV systems with bounded realizations***Proceedings of the 20th IFAC World Congress, Toulouse, France, July 2017, pp. 3661-3668.**

*,"*[59] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*"*

*Discrete-time distributed Kalman filter design for multi-vehicle systems***Proceedings of the 2017 American Control Conference, Seattle, Washington, USA, May 2017, pp. 5538-5543.**

*,"*[58] P. Batista, C. Silvestre, and P. Oliveira,

**"**

**Relative Attitude Observers for Three-Platform Formations with Inertial Spread Observations***Proceedings of the 55th IEEE Conference on Decision and Control, Las Vegas, Nevada, USA, December 2016, pp. 6266-6271.*

*,"*[57] P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre,

*"Towards Uncertainty Optimization in Active SLAM**Proceedings of the 54th IEEE Conference on Decision and Control, Osaka, Japan, December 2015, pp. 3242-3247.*

*,"*[56] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 54th IEEE Conference on Decision and Control, Osaka, Japan, December 2015, pp. 7636-7641.*

*"**Pseudo-Range Navigation with Clock Offset and Propagation Speed Estimation,"*[55] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 54th IEEE Conference on Decision and Control, Osaka, Japan, December 2015, pp. 2146-2151.*

*"Globally Convergent Relative Attitude Observers for Three-Platform Formations**,"*[54] P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre,

**Proceedings of the 2015 European Control Conference, Linz, Austria, July 2015, pp. 2359-2364.**

*"Simultaneous Localization and Mapping in Sensor Networks: a GES sensor-based filter with moving object tracking**,"*[53] P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2015 European Control Conference, Linz, Austria, July 2015, pp. 2817-2822.*

**"A Globally Exponentially Stable filter for Bearing-Only Simultaneous Localization and Mapping in 3-D,"**[52] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*"Nonlinear observability and observer design through state augmentation**Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, California, USA, December 2014, pp. 133-138.*

*,"*[51] P. Batista, C. Silvestre, and P. Oliveira,

*"Attitude and Earth Velocity Estimation - Part II: Observer on the Special Orthogonal Group**Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, California, USA, December 2014, pp. 127-132.*

*,"*[50] P. Batista, C. Silvestre, and P. Oliveira,

*"Attitude and Earth Velocity Estimation - Part I: Globally Exponentially Stable Observer**Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, California, USA, December 2014, pp. 121-126.*

*,"*[49] P. Batista,

*"GES Long Baseline Navigation with Clock Offset Estimation**Proceedings of the 2014 European Control Conference, Strasbourg, France, June 2014, pp. 3011-3016.*

*,"*[48] J. Reis, P. Oliveira, P. Batista, and C. Silvestre,

*"Filter Design for Localization aided by Direction and Doppler Measurements**Proceedings of the 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, May-June 2014, pp. 2957-2962.*

*,"*[47] J. Barbosa, C. Cardeira, P. Oliveira, P. Batista, and C. Silvestre,

*"Design and Validation of a Linear Parameter Varying Localization System**Proceedings of the 2014 IEEE International Conference on Autonomous Robot Systems and Competitions - ROBÓTICA 2014, Espinho, Portugal, May 2014, pp. 98-103.*

*,"*[46] P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and P. Chen,

*Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping**"**Proceedings of the 52nd IEEE Conference on Decision and Control, Florence, Italy, December 2013, pp. 5692-5697.*

*,"*[45] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 52nd IEEE Conference on Decision and Control, Florence, Italy, December 2013, pp. 5066-5071.*

*GES Source Localization and Navigation based on Discrete-Time Bearing Measurement**"**,"*[44] P. Batista,

*Proceedings of the 52nd IEEE Conference on Decision and Control, Florence, Italy, December 2013, pp. 6176-6181.*

*"***GES Long Baseline Navigation with Unknown Sound Velocity and Discrete-time Range Measurements***,"*[43] P. Lourenço, B. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2013 European Control Conference, Zurich, Switzerland, July 2013, pp. 4214-4219.*

*"*3-D Inertial Trajectory and Map Online Estimation: Building on a GAS Sensor-based SLAM filter*,"*[42] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2013 European Control Conference, Zurich, Switzerland, July 2013, pp. 2988-2993.*

*"*GES Tightly Coupled Attitude Estimation based on a LBL/USBL Positioning System*,"*[41] P. Batista, C. Silvestre, and P. Oliveira,

**Proceedings of the 2013 European Control Conference, Zurich, Switzerland, July 2013, pp. 2982-2987.**

*"**GAS Tightly Coupled LBL/USBL Position and Velocity Filter for Underwater Vehicles**,"*[40] P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and P. Chen,

*Proceedings of the 21st Mediterranean Conference on Control and Automation, Crete, Greece, June 2013, pp. 1242-1247.*

*"*A Received Signal Strength Indication-based Localization System*,**"*[39] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

**Proceedings of the 21st Mediterranean Conference on Control and Automation, Crete, Greece, June 2013, pp. 1286-1291.**

*"GAS Decentralized Navigation Filters**in a Continuous-Discrete Fixed Topology Framework,**"*[38] P. Batista, C. Silvestre, and P. Oliveira,

**Proceedings of the 21st Mediterranean Conference on Control and Automation, Crete, Greece, June 2013, pp. 1248-1253.**

*"**GES Source Localization based on Discrete-Time Position and Single Range Measurements,**"*[37] P. Batista, C. Silvestre, and P. Oliveira,

**Proceedings of the 21st Mediterranean Conference on Control and Automation, Crete, Greece, June 2013, pp. 419-424.**

*"Preliminary Results on the Estimation Performance of Single Range Source Localization**,**"*[36] P. Lourenço, B. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2013 American Control Conference, Washington, D.C., USA, June 2013, pp. 3093-3098.*

*"*Preliminary Results on Globally Asymptotically Stable Simultaneous Localization and Mapping in 3-D*,**"*[35] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2013 American Control Conference, Washington, D.C., USA, June 2013, pp. 65-70.*

*"*Decentralized linear state observers for vehicle formations with time-varying topologies*,"*[34] P. Batista, N. Petit, C. Silvestre, and P. Oliveira,

*Proceedings of the 2013 American Control Conference, Washington, D.C., USA, June 2013, pp. 2509-2514.*

**"Further results on the observability in magneto-inertial navigation,"**[33] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, December 2012, pp. 6603-6609.*

**"Globally Asymptotically Stable Filter for Navigation aided by Direction and Depth Measurements,"**[32] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, December 2012, pp. 6609-6614.*

**"GES Integrated LBL/USBL Navigation System for Underwater Vehicles,"**[31] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2012 American Control Conference, Montréal, Quebec, Canada, June 2012, pp. 5395-5400.*

**"A Two-step Docking Strategy for Docking of Autonomous Vehicles,"**[30] B. Guerreiro, P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2012 American Control Conference, Montréal, Quebec, Canada, June 2012, pp. 6334-6339.*

**"Sensor-based Simultaneous Localization and Mapping - Part II: Online Inertial Map and Trajectory Estimation,"**[29] B. Guerreiro, P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2012 American Control Conference, Montréal, Quebec, Canada, June 2012, pp. 6352-6357.*

**"Sensor-based Simultaneous Localization and Mapping - Part I: GAS Robocentric Filter,"**[28] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2012 American Control Conference, Montréal, Quebec, Canada, June 2012, pp. 6575-6580.*

**"Decentralized Range-based Linear Motion Estimation in Acyclic Vehicle Formations with Fixed Topologies,"**[27] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2012 IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, May 2012, pp. 4878-4883.*

**"Position and Velocity Filters for Intervention AUVS based on Single Range and Depth Measurements,"**[26] M. Morgado, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2012 IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 2012.*

**"Attitude Filter for Intervention-AUVs working in Tandem with Autonomous Surface Craft,"**[25] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2012 IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, Porto, Portugal, April 2012.*

**"GAS ocean current estimation with limited velocity readings,"**[24] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 50th IEEE Conference on Decision and Control, Orlando, Florida, USA, December 2011, pp. 8151-8156.*

**"Globally Asymptotically Stable Filters for Source Localization and Navigation aided by Direction Measurements,"**[23] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 18th IFAC World Congress, Milan, Italy, August-September 2011, pp. 2991-2996.*

**"GES Attitude Observers - Part II: Single Vector Observations,"**[22] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 18th IFAC World Congress, Milan, Italy, August-September 2011, pp. 2985-2990.*

**"GES Attitude Observers - Part I: Multiple General Vector Observations,"**[21] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 18th IFAC World Congress, Milan, Italy, August-September 2011, pp. 13636-13641.*

**"Decentralized Linear Motion Estimators for AUV Formations with Fixed Topologies,"**[20] M. Morgado, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 18th IFAC World Congress, Milan, Italy, August-September 2011, pp. 13642-13647.*

**"Position and Velocity USBL/IMU Sensor-based Navigation Filter,"**[19] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2011 American Control Conference, San Francisco, California, USA, June-July 2011, pp. 2590-2595.*

**"Computationally Efficient GES Cascade Observer for Attitude Estimation,"**[18] D. Viegas, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 2011 American Control Conference, San Francisco, California, USA, June-July 2011, pp. 3966-3971.*

**"Linear Motion Observers for ASC/AUV Tandems based on Single Range Readings,"**[17] M. Morgado, P. Batista, P. Oliveira, and C. Silvestre,

*Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, December 2010, pp. 2192-2197.*

**"Position USBL/DVL Sensor-Based Navigation Filter in the Presence of Unknown Ocean Currents,"**[16] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, September 2010, pp. 302-307.*

**"A Sensor-based Long Baseline Position and Velocity Navigation Filter for Underwater Vehicles,"**[15] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2010 American Control Conference, Baltimore, Maryland, USA, June-July 2010, pp. 6191-6196.*

**"Single Beacon Navigation: Observability Analysis and Filter Design,"**[14] P. Batista, C. Silvestre, P. Oliveira, and B. Cardeira,

*Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA, May 2010, pp. 2624-2629.*

**"Low-cost Attitude and Heading Reference System: Filter Design and Experimental Evaluation,"**[13] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 48th IEEE Conference on Decision and Control, Shanghai, China, December 2009, pp. 7563-7568.*

**"Sensor-based Complementary Globally Asymptotically Stable Filters for Attitude Estimation,"**[12] P. Batista,

*Proceedings of the 2009 AIAA Guidance, Navigation and Control Conference and Exhibit, Chicago, Illinois, USA, August 2009.*

**"Low-cost Sensor-based Integrated Attitude Filter for Space Applications,"**[11] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2009 European Control Conference, Budapest, Hungary, August 2009, pp. 3983-3988.*

**"Single Range Navigation in the presence of Constant Unknown Drifts,"**[10] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2009 American Control Conference, Saint Louis, Missouri, USA, June 2009, pp. 5404-5409.*

**"Position and Velocity Optimal Sensor-based Navigation Filters for UAVs,"**[9] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 2009 American Control Conference, Saint Louis, Missouri, USA, June 2009, pp. 1177-1182.*

**"Necessary and sufficient conditions for the observability of linear motion quantities in strapdown navigation systems,"**[8] J. Vasconcelos, C. Silvestre, P. Oliveira, P. Batista, and B. Cardeira,

*Proceedings of the 2009 American Control Conference, Saint Louis, Missouri, USA, June 2009, pp. 4056-4061.*

**"Discrete Time-Varying Attitude Complementary Filter,"**[7] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Quintana Roo, Mexico, December 2008, pp. 1320-1325.*

**"Optimal Position and Velocity Navigation Filters with Discrete-Time Delayed Measurements,"**[6] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 17th IFAC World Congress, Seoul, South Korea, July 2008, pp. 12528-12533.*

**"Kalman and H Infinity Optimal Filtering for a Class of Kinematic Systems,"**[5] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 17th IFAC World Congress, Seoul, South Korea, July 2008, pp. 15016-15021.*

**"Position and Velocity Navigation Filters for Marine Vehicles,"**[4] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, Louisiana, USA, December 2007, pp. 1046-1051.*

**"Observer Design for a class of Kinematic Systems,"**[3] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006, pp. 51-56.*

**"A Quaternion Sensor Based Controller for Homing of Underactuated AUVs,"**[2] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 7th IFAC Conference on Manoeuvring and Control, Lisbon, Portugal, September 2006.*

**"A 2D Homing Strategy for Autonomous Underwater Vehicles,"**[1] P. Batista, C. Silvestre, and P. Oliveira,

*Proceedings of the 14th Mediterranean Conference on Control and Automation, Ancona, Italy, June 2006.*

**"A Sensor Based Homing Strategy for Autonomous Underwater Vehicles,"**