Publications

2026

Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala, Dimos V. Dimarogonas
preprint 2026
Paper  | Code  | Video

Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking
Victor Nan Fernandez-Ayala, Wiktor Kowalczyk, Cezary Banaszek, Dimos V. Dimarogonas
preprint 2026
Paper

Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai, Ignacio Torroba, Ivan Stenius, Patric Jensfelt, Javier Alonso-Mora, Jana Tumova
preprint 2026
Paper

Validation of Space Robotics in Underwater Environments via Disturbance Robustness Equivalency
Joris Verhagen, Elias Krantz, Chelsea Sidrane, David Dörner, Nicola De Carli, Pedro Roque, Huina Mao, Gunnar Tibert, Ivan Stenius, Christer Fuglesang, Dimos Dimarogonas, Jana Tumova
ICRA 2026
Paper  | Website  | Code

Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
Ignacio Torroba, David Dorner, Victor Nan Fernandez-Ayala, Mart Kartasev, Joris Verhagen, Elias Krantz, Gregorio Marchesini, Carl Ljung, Pedro Roque, Chelsea Sidrane, Linda Van der Spaa, Nicola De Carli, Petter Ogren, Christer Fuglesang, Jana Tumova, Dimos V. Dimarogonas, Ivan Stenius
preprint 2026
Paper