## International Journal Papers

[-] L. Pedroso and P. Batista,

*IEEE Transactions on Control of Network Systems, 2023 (in press).*

**"Decentralized moving horizon estimation for large-scale networks of interconnected unconstrained linear systems,"**[69] L. Pedroso and P. Batista,

**Control Engineering Practice, vol. 135, 105509, June 2023.**

*"Distributed Decentralized EKF for Very Large-Scale Networks with Application to Satellite Mega-Constellations Navigation,"*[68] J. Reis, P. Batista, P. Oliveira, and C. Silvestre,

*Ocean Engineering, vol. 277, 114240, June 2023.*

**"Discrete-time Kalman filter for heave motion estimation,"**[67] P. Trindade, P. Batista, and R. Cunha,

*"*

**Third-Order Consensus for Robust Distributed Formation Control of Double Integrator Vehicles****Control Engineering Practice, vol. 133, 105436, April 2023.**

*,"*[66] C. Huang, H. Xu, P. Batista, X. Zhang, and C. G. Soares,

**European Journal of Control, vol. 70, 100784, March 2023.**

*"Fixed-time leader-follower formation control of underactuated unmanned surface vehicles with unknown dynamics and ocean disturbances,"*[65] P. Mendes, P. Batista, P. Oliveira, and C. Silvestre,

*"*

**Cooperative decentralized navigation algorithms based on bearing measurements for arbitrary measurement topologies****Ocean Engineering, vol. 270, 113564, February 2023.**

*,"*[64] X.-Z. Zhu, D. Cabecinhas, W. Xie, P. Casau, C. Silvestre, P. Batista, and P. Oliveira,

**International Journal of Systems Science, vol. 54, no. 1, pp. 17-41, January 2023.**

*"Kalman-Bucy Filter-Based Tracking Controller Design and Experimental Validations for a Quadcopter with Parametric Uncertainties and Disturbances,"*[63] I. Andrushka, P. Batista, P. Oliveira, and C. Silvestre,

*International Journal of Robust and Nonlinear Control, vol. 33, no. 1, pp. 102-1033, January 2023. [PDF]*

**"Decentralized control and state estimation of linear time-periodic systems,"**[62] L. Pedroso and P. 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, January 2023. [PDF]*

**,"**[61] J. Reis, P. Batista, P. Oliveira, and C. 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, December 2022. [PDF]**

*,"*[60] L. Pedroso and P. Batista,

*Journal of Process Control, vol. 118, pp. 82-94, October 2022. [PDF]*

**"Reproducible Low-cost Flexible Quadruple-Tank Process Experimental Setup for Control Educators, Practitioners, and Researchers,"**[59] P. Cruz, P. Batista, and A. Sanyal,

**"**

**Design and analysis of attitude observers based on the Lagrange-d’Alembert principle applied to constrained three-vehicle formations***Advances in Space Research, vol. 69, no. 11, pp. 4001-4012, June 2022. [PDF]*

**,"**[58] P. Cruz and P. Batista,

**"**

**Attitude Uncertainty Analysis of a Three-vehicle Constrained Formation***Sensors, vol. 22, no. 10, 3879, May 2022. [PDF]*

**,"**[57] L. Pedroso, P. Batista, P. Oliveira, and C. 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, 2022.*

**,"**[56] M. Simas, B. Guerreiro, and P. Batista,

**"**

**Earth-based Simultaneous Localization and Mapping for Drones in Dynamic Environments***Journal of Intelligent & Robotic Systems, vol. 104, 58, April 2022. [PDF]*

**,"**[55] D. Santos, P. Batista, P. Oliveira, and C. 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, 2022. [PDF]*

**,"**[54] L. Pedroso and P. Batista,

*Transportation Research Part C: Emerging Technologies, vol. 132, 103412, November 2021. [PDF]*

**"Decentralized store-and-forward based strategies for the signal control problem in large-scale congested urban road networks,"**[53] P. Cruz and P. Batista,

*Sensors, vol. 21, no. 14, 4631, July 2021. [PDF]*

**"Characterization of Degenerate Configurations in Attitude Determination of Three-Vehicle Heterogeneous Formations,"**[52] L. Pedroso and P. Batista,

*Mathematics, vol. 9, no. 13, 1497, June 2021. [PDF]*

**"Efficient Algorithm for the Computation of the Solution to a Sparse Matrix Equation in Distributed Control Theory,"**[51] J. Reis, P. Batista, P. Oliveira, and C. Silvestre,

**"**

*Attitude, body-fixed Earth rotation rate, and sensor bias estimation using single observations of direction of gravitational field***Automatica, vol. 125, 109475, March 2021. [PDF]**

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

**"**

**Distributed controller design and performance optimization for discrete-time linear systems****Optimal Control Applications and Methods, vol. 41, no. 1, pp. 126-143, January-February 2021. [PDF]**

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

*"*

**Earth-fixed trajectory and map online estimation Building on GES sensor-based SLAM filters***Robotics and Autonomous Systems, vol. 130, 103552, August 2020. [PDF]*

*,"*[48] T. Silva and P. Batista,

*"*

**Long baseline navigation filter with clock offset estimation***Nonlinear Dynamics, vol. 100, pp. 2557-2573, May 2020. [PDF]*

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

*"*

**Kalman Filter Cascade for Attitude Estimation on Rotating Earth****IEEE/ASME Transactions on Mechatronics, vol. 25, no. 1, pp. 327-338, February 2020. [PDF]**

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

**Control Engineering Practice, vol. 92, 104134, November 2019. [PDF]**

*"Attitude estimation using high-grade gyroscopes,"*[45] P. Cruz and P. Batista,

*"*

**A solution for the attitude determination of three-vehicle heterogeneous formations***Aerospace Science and Technology, vol. 93, 105275, October 2019. [PDF]*

*,"*[44] P. Batista,

*"*

**Robustness to measurement noise of a globally convergent attitude observer with topological relaxations***Nonlinear Dynamics, vol. 98, no.1, pp. 589-600, October 2019. [PDF]*

*,"*[43] P. Batista,

*"*

**Long baseline navigation with explicit pseudo-range clock offset and propagation speed estimation***European Journal of Control, vol. 49, pp. 116-130, September 2019. [PDF]*

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

*"*

**Globally exponentially stable attitude observer with Earth velocity estimation***Asian Journal of Control, vol. 21, no. 4, pp. 1409-1422, July 2019. [PDF]*

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

*"*

*Calibration of High-Grade Inertial Measurement Units using a Rate Table***IEEE Sensors Letters, vol. 3, no. 4, April 2019. [PDF]**

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

*"*

**Attitude observer on the special orthogonal group with earth velocity estimation***Systems & Control Letters, vol. 126, pp. 33-39, April 2019. [PDF]*

*,"*[39] J. Reis, P. Batista, P. Oliveira, and C. 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, April 2019. [PDF]**

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

**"**

*Strategies for uncertainty optimization through motion planning in GES sensor-based SLAM**Robotics and Autonomous Systems, vol. 113, pp. 38-55, March 2019. [PDF]*

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

**"**

*Source Localization Based on Acoustic Single Direction Measurements***IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 6, pp. 2837-2852, December 2018. [PDF]**

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

**"**

**Discrete-time distributed Kalman filter design for formations of autonomous vehicles****Control Engineering Practice, vol. 75, pp. 55-68, June 2018. [PDF]**

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

**"**

**Hovercraft Control With Dynamic Parameters Identification***IEEE Transactions on Control Systems Technology, vol. 26, no. 3, pp. 785-796, May 2018. [PDF]*

**,"**[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. [PDF]*

**,"**[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. [PDF]*

**,"**[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, 1491, September 2016. [PDF]*

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

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

**"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. [PDF]*

**"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. [PDF]*

**,"**[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. [PDF]*

**"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. [PDF]*

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

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

**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. [PDF]*

**"A two-step control approach for docking of autonomous underwater vehicles,"**[24] P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and C.L. Philip Chen,

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

**"Sensor-based globally exponentially stable range-only simultaneous localization and mapping,"**[23] D. Viegas, P. Batista, P. Oliveira, C. Silvestre, and C.L. Philip Chen,

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

*"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. [PDF]*

**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. [PDF]*

**"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. [PDF]*

*,"*[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. [PDF]*

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

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

*"***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. [PDF]*

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

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

*"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. [PDF]

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

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

**"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. [PDF]**

*"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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. [PDF]*

**"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, and H. Nijmeijer, Eds., Springer International Publishing, Jul. 2017, pp. 121-141.*

**,"**## International Conference Papers

[83] P. Trindade, R. Cunha, and P. Batista,

**"**

**First- and Second-Order Consensus with Constant Uniform Delays****Proceedings of the 62nd IEEE Conference on Decision and Control, Marina Bay Sands, Singapore, December 2023, pp. tbd.**

*,"*[82] L. Pedroso, P. Batista, M. Papageorgiou, and E. Kosmatopoulos,

**"**

**SAFFRON: Store-And-Forward model toolbox For urban ROad Network signal control in MATLAB****Proceedings of the 25th IEEE International Conference on Intelligent Transportation Systems, Macau, China, October 2022, pp. 3698-3703.**

*,"*[81] T.J. Mertzimekis, V. Lagaki, I. Madesis, G. Siltzovalis, E. Petra, P. Nomikou, P. Batista, D. Cabecinhas, A. Pascoal, L. Sebastião, J. Escartín, K. Kebkal, K. Karantzalos, V. Douskos, A. Mallios, K. Nikolopoulos, and L. Maigne,

*Proceedings of the ACM International Conference on Information Technology for Social Good, Limassol, Cyprus, September 2022, pp. 244-249.*

**"RAMONES and Environmental Intelligence: Progress Update,"**[80] M. Relvas, P. Lourenço, and P. Batista,

**"**

**Nonlinear MPC for Attitude Guidance & Control of Autonomous Spacecraft****Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, Caparica, Portugal, July 2022.**

*,"*[79] P. Trindade, R. Cunha, and P. Batista,

**"**

**Consensus: Optimal Coupling Gain Design****Proceedings of the 2022 American Control Conference, Atlanta, Georgia, USA, June 2022, pp. 54-59.**

*,"*[78] R. Marxer, V. Hugel, K. P. Prud’homme, P. Batista, J. Aviles, A. Pascoal, P. Sanz, and I. Schjølberg,

**"**

**Marine and Maritime Intelligent Robotics (MIR)***Proceedings of the Global OCEANS 2021 San Diego – Porto, San Diego, California, USA, September 2021.*

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

**"**

**Kalman filtering technique for attitude estimation on SO(3) using single inertial vector observations***Proceedings of the Global OCEANS 2021 San Diego – Porto, San Diego, California, USA, September 2021.*

**,"**[76] P. Mendes and P. Batista,

**"**

**A study on cooperative navigation of AUVs based on bearing measurements***Proceedings of the Global OCEANS 2021 San Diego – Porto, San Diego, California, USA, September 2021.*

**,"**[75] T.J. Mertzimekis, P. Nomikou, E. Petra, P. Batista, D. Cabecinhas, A. Pascoal, L. Sebastião, J. Escartín, K. Kebkal, K. Karantzalos, A. Mallios, K. Nikolopoulos, and L. Maigne,

*Proceedings of the ACM International Conference on Information Technology for Social Good, Rome, Italy, September 2021, pp. 216-220.*

**"Radioactivity Monitoring in Ocean Ecosystems (RAMONES),"**[74] P. Cruz, P. Batista, and A. Sanyal,

**"**

**Attitude observers for three-vehicle heterogeneous formations based on the Lagrange-d'Alembert principle***Proceedings of the 2021 European Control Conference, Rotterdam, Netherlands, June-July 2021, pp. 2309-2314.*

**,"**[73] T. Oliveira, P. Trindade, D. Cabecinhas, P. Batista, and Rita Cunha,

**"**

*Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles**Proceedings of the 21st IEEE International Conference on Autonomous Robot Systems and Competitions, Santa Maria da Feira, Portugal, April 2021, pp. 191-196.*

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

**"**

*Attitude observers aided by implicit measurements of the Earth angular velocity**Proceedings of the 59th IEEE Conference on Decision and Control, Jeju Island, South Korea, December 2020, pp. 1300-1305.*

**,"**[71] P. Trindade, R. Cunha, and P. Batista,

**"**

**Distributed Formation Control of Double-Integrator Vehicles with Disturbance Rejection****Proceedings of the 21st IFAC World Congress, Berlin, Germany, July 2020, pp. 3180-3185.**

*,"*[70] D. Santos and P. Batista,

**"**

**Cooperative Navigation Based on Bearing and Range Measurements to Different Vehicles****Proceedings of the 21st IFAC World Congress, Berlin, Germany, July 2020, pp. 14753-14758.**

*,"*[69] P. Batista,

**"**

*Navigation and Source Localization based on Single Pseudo-Ranges with an Unknown Multiplicative Factor***Proceedings of the 21st IFAC World Congress, Berlin, Germany, July 2020, pp. 14863-14868.**

*,"*[68] D. Santos and P. Batista,

*"*

**Decentralized Navigation Systems for Bearing-based Position and Velocity Estimation in Tiered Formations****Proceedings of the 2020 American Control Conference, Denver, Colorado, USA, July 2020, pp. 5225-5230.**

*,"*[67] P. Batista,

*"*

**Navigation and source localization based on single pseudo-ranges****Proceedings of the 2020 American Control Conference, Denver, Colorado, USA, July 2020, pp. 5237-5242.**

*,"*[66] P. Cruz and P. Batista,

**"**

**Special Cases in the Attitude Determination of Three-Vehicle Heterogeneous Formations***Proceedings of the 7th International Conference on Control, Decision and Information Technologies, Prague, Czech Republic, June-July 2020, pp. 136-141.*

**,"**[65] M. Simas, B. Guerreiro, and P. Batista,

*"*

**Preliminary Results on 2-D Simultaneous Localization and Mapping for Aerial Robots in Dynamics Environments****Proceedings of the 2019 7th International Conference on Robot Intelligence Technology and Applications, KAIST, Daejeon, South Korea, November 2019, pp. 180-185.**

*,"*[64] T. Silva and P. Batista,

*"*

**Long Baseline Aided Inertial Navigation System with Clock Offset Estimation****Proceedings of the 2019 European Control Conference, Naples, Italy, June 2019, pp. 4022-4027.**

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

**"**

**A Globally Exponentially Stable Solution for Frequency Estimation***Proceedings of the 57th IEEE Conference on Decision and Control, Miami Beach, Florida, USA, December 2018, pp. 626-631.*

**,"**[62] P. Cruz and P. Batista,

**"**

**Relative and inertial attitude determination in three-vehicle long formations***Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October 2018, pp. 2880-2885.*

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

**"**

**Nonlinear Attitude Observer on SO(3) Based on Single Body-Vector Measurements***Proceedings of the 2nd IEEE Conference on Control Technology and Applications, Copenhagen, Denmark, August 2018, pp. 1319-1324.*

**,"**[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 C.L. Philip 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 Measurements**"**,"*[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 C.L. Philip 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,"**