SEarch, identificAtion and Collection of marine Litter with Autonomous Robots

Project Information

SeaClear

Grant agreement ID: 871295

DOI 10.3030/871295

Project closed

EC signature date 11 October 2019

Start date 1 January 2020

End date 31 December 2023

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 4 981 267,50

EU contribution € 4 981 267,50

Coordinated by

TECHNISCHE UNIVERSITEIT DELFT
Netherlands

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (12)

Technical and end-user guides

Technical and enduser guides

Concept cost-effectiveness report

Concept costeffectiveness report

Sensors/platforms hardware integration technical guide

Sensorsplatforms hardware integration technical guide

Data management plan
Sensor selection report
Dissemination & Exploitation report and business plan
Collection basket design report
Workshop reports
Use-case definition document
Specification and design document
Gripper and suction tool design report
Dissemination & Exploitation strategy plan

Websites, patent fillings, videos etc. (2)

Creation and management of stakeholder community
Project web presence

Demonstrators, pilots, prototypes (2)

Economy-oriented demonstrator (port cleaning) with assessment
Tourism-oriented demonstrator with assessment

Publications

Conference proceedings (22)

Towards establishing an automated selection framework for underwater image enhancement methods

Author(s): Athina Ilioudi; Ben J. Wolf; Azita Dabiri; Bart De Schutter
Published in: OCEANS 2023, 2023, ISBN 979-8-3503-3226-1
Publisher: IEEE
DOI: 10.1109/oceanslimerick52467.2023.10244710

Numerically Efficient Agents-to-Group H∞ Analysis

Author(s): Nakić, Ivica; Tolić, Domagoj; Palunko, Ivana; Tomljanović, Zoran
Published in: IFAC-PapersOnLine, Issue Volume 55, Issue 20, 2022, 2022, Page(s) 199-204, ISSN 2405-8963
Publisher: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.09.095

Multi-Agent Exploration-Based Search for an Unknown Number of Targets⁎

Author(s): Bilal Yousuf; Zsofia Lendek; Lucian Busoniu
Published in: 22nd IFAC World Congress, Issue Volume 56, Issue 2, 2023, Page(s) 5494-5499
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2023.10.206

Koopman Kernel Regression

Author(s): Petar Bevanda; Max Beier; Armin Lederer; Stefan Sosnowski; Eyke Hüllermeier; Sandra Hirche
Published in: Advances in Neural Information Processing Systems 2023, 2023
Publisher: Neural Information Processing Systems Foundation, Inc. (NeurIPS)
DOI: 10.48550/arxiv.2305.16215

Underwater Robot Pose Estimation Using Acoustic Methods and Intermittent Position Measurements at the Surface

Author(s): Vicu-Mihalis Maer; Levente Tamás; Lucian Buşoniu
Published in: 2022 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR-22), 2022, ISBN 978-1-6654-7933-2
Publisher: IEEE
DOI: 10.1109/aqtr55203.2022.9802002

Active search and coverage using point-cloud reinforcement learning

Author(s): Matthias Rosynski, Alexandru Pop, Lucian Busoniu
Published in: 27th International Conference on System Theory, Control and Computing, 2023
Publisher: IEEE
DOI: 10.1109/icstcc59206.2023.10308458

Towards Data-driven LQR with Koopmanizing Flows⋆

Author(s): Petar Bevanda; Max Beier; Shahab Heshmati-Alamdari; Stefan Sosnowski; Sandra Hirche
Published in: 6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022, Issue 24058963, 2022, Page(s) 13-18, ISSN 2405-8963
Publisher: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.07.601

Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes

Author(s): Zewen Yang; Stefan Sosnowski; Qingchen Liu; Junjie Jiao; Armin Lederer; Sandra Hirch
Published in: Proceedings of the 60th IEEE Conference on Decision and Control (CDC), Issue 25762370, 2021, Page(s) 4406-4411, ISSN 2576-2370
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683522

Beam-Based Tether Dynamics and Simulations using Finite Element Model

Author(s): Damir Bulić; Domagoj Tolić; Ivana Palunko
Published in: 6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022, Issue 24058963, 2022, Page(s) 154-159, ISSN 2405-8963
Publisher: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.07.624

Two-Channel Extended Kalman Filtering with Intermittent Measurements

Author(s): Vicu-Mihalis Maer; Zsofia Lendek; Stefan Pirje; Domagoj Tolic; Antun Djuras; Vicko Prkacin; Ivana Palunko; Lucian Busoniu
Published in: IEEE American Control Conference 2024, 2024
Publisher: IEEE
DOI: 10.48550/arxiv.2312.11600

https://ieeexplore.ieee.org/abstract/document/9683546

Author(s): Tudor Santejudean, Lucian Busoniu
Published in: Proceedings of the 60th IEEE Conference on Decision and Control, 2021
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683546

Mixed Use of Pontryagin's Principle and the Hamilton-Jacobi-Bellman Equation in Infinite- and Finite-Horizon Constrained Optimal Control

Author(s): Weston, Jerome and Tolić, Domagoj and Palunko, Ivana
Published in: International Conference on Intelligent Autonomous Systems (IAS), Issue vol 577, 2023, ISBN 978-3-031-22215-3
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-22216-0_12

Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing

Author(s): Vicko Prkacin; Ivana Palunko; Ivan Petrović
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Issue 2021, 2021, Page(s) 1-6, ISBN 978-1-6654-3389-1
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571038

Hand-Crafted Features for Floating Plastic Detection

Author(s): Matija Sukno and Ivana Palunko
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 2022, 2022, ISBN 978-1-6654-7927-1
Publisher: IEEE
DOI: 10.1109/iros47612.2022.9981320

Structure-Preserving Learning Using Gaussian Processes and Variational Integrators

Author(s): Jan Brüdigam; Martin Schuck; Alexandre Capone; Stefan Sosnowski; Sandra Hirche
Published in: Proceedings of The 4th Annual Learning for Dynamics and Control Conference, Issue 26403498, 2022, Page(s) 1150-1162, ISSN 2640-3498
Publisher: Cambridge MA: JMLR

Exploration-Based Search for an Unknown Number of Targets using a UAV

Author(s): Bilal Yousuf; Zsófia Lendek; Lucian Buşoniu
Published in: 6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022, Issue 24058963, 2022, Page(s) 93-98, ISSN 2405-8963
Publisher: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.07.614

MPI Planar Correction of Pulse Based ToF Cameras

Author(s): Marian-Leontin Pop; Levente Tamas
Published in: 2022 IEEE International Conference on Automation, Quality and Testing, Robotics, 2022, ISBN 978-1-6654-7933-2
Publisher: IEEE
DOI: 10.1109/aqtr55203.2022.9802059

Recovering the 3D UUV Position using UAV Imagery in Shallow-Water Environments

Author(s): Antun Đuraš; Matija Sukno; Ivana Palunko
Published in: International Conference on Unmanned Aircraft Systems (ICUAS), Issue 25757296, 2022, Page(s) 948-954, ISSN 2575-7296
Publisher: IEEE
DOI: 10.1109/icuas54217.2022.9836195

A simple path-aware optimization method for mobile robots

Author(s): Tudor Sântejudean; Lucian Buşoniu; Vineeth Varma; Constantin Morărescu
Published in: 6th IFAC Symposium on Telematics Applications TA 2022, Issue 24058963, 2022, Page(s) 1-6, ISSN 2405-8963
Publisher: Kidlington: Elsevier Ltd
DOI: 10.1016/j.ifacol.2022.08.001

3D Object Recognition using Time of Flight Camera with Embedded GPU on Mobile Robots

Author(s): Benjamin Keleny; Szilard Molnar; Levente Tamas
Published in: 18th International joint conference on Computer Vision, Imaging and computer graphics theory and applications, Issue Volume 4: VISAPP, 2022, Page(s) 849-856, ISBN 978-989-758-555-5
Publisher: SciTePress
DOI: 10.5220/0010972200003124

Next best view estimation for volumetric information gain

Author(s): Alexandru Pop; Levente Tamas
Published in: 6th IFAC Conference on Intelligent Control and Automation Sciences, Issue Volume 55, Issue 15, 2022, Page(s) 160-165, ISSN 2405-8963
Publisher: IFAC
DOI: 10.1016/j.ifacol.2022.07.625

Learning the Koopman Eigendecomposition: A Diffeomorphic Approach

Author(s): Petar Bevanda; Johannes Kirmayr; Stefan Sosnowski; Sandra Hirche
Published in: 2022 American Control Conference, 2022, ISBN 978-1-6654-5196-3
Publisher: IEEE
DOI: 10.23919/acc53348.2022.9867829

Peer reviewed articles (12)

Cooperative Control of Uncertain Multiagent Systems via Distributed Gaussian Processes

Author(s): Armin Lederer; Zewen Yang; Junjie Jiao; Sandra Hirche
Published in: IEEE Transactions on Automatic Control, Issue Volume 68, Issue 5, 2022, Page(s) 3091 - 3098, ISSN 0018-9286
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tac.2022.3205424

A Simulator and First Reinforcement Learning Results for Underwater Mapping

Author(s): Matthias Rosynski; Lucian Bușoniu
Published in: Sensors, Issue 14248220, 2022, Page(s) 5384, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s22145384

Optimistic planning for control of hybrid-input nonlinear systems

Author(s): Ioana Lal; Irinel-Constantin Morarescu; Jamal Daafouz; Lucian Busoniu
Published in: Automatica, Issue Volume 154, 2023, Page(s) 111097, ISSN 0005-1098
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.automatica.2023.111097

3D exploration-based search for multiple targets using a UAV

Author(s): Bilal Yousuf; Zsofia Lendek; Lucian Busoniu
Published in: Springer Journal of Intelligent Robotic Systems, 2024, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.48550/arxiv.2312.11424

Online learning control for path-aware global optimization with nonlinear mobile robots

Author(s): Tudor Sântejudean; Lucian Buşoniu
Published in: Control Engineering Practice, Issue 09670661, 2022, Page(s) 105228, ISSN 0967-0661
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.conengprac.2022.105228

Koopman operator dynamical models: Learning, analysis and control

Author(s): Petar Bevanda; Stefan Sosnowski; Sandra Hirche
Published in: Annual Reviews in Control, Issue 13675788, 2021, Page(s) 197-212, ISSN 1367-5788
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.arcontrol.2021.09.002

Numerically efficient H∞ analysis of cooperative multi-agent systems

Author(s): Ivica Nakić; Domagoj Tolić; Zoran Tomljanović; Ivana Palunko
Published in: Journal of the Franklin Institute, Issue Volume 359, Issue 16, 2022, Page(s) 9110-9128, ISSN 0016-0032
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.jfranklin.2022.09.013

The Quadrature Method: A Novel Dipole Localisation Algorithm for Artificial Lateral Lines Compared to State of the Art

Author(s): Daniël M. Bot, Ben J. Wolf, Sietse M. van Netten
Published in: Sensors, Issue 21/13, 2021, Page(s) 4558, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21134558

D3GATTEN: Dense 3D Geometric Features Extraction and Pose Estimation Using Self-Attention

Author(s): Benjamin Kelenyi; Levente Tamas
Published in: IEEE Access, Issue Volume 11, 2023, Page(s) 7947 - 7958, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3238901

Deep Learning for Object Detection and Segmentation in Videos: Toward an Integration With Domain Knowledge

Author(s): A. Ilioudi; A. Dabiri; B. J. Wolf; B. De Schutter
Published in: IEEE Access, Issue 21693536, 2022, Page(s) 34562-34576, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2022.3162827

Diffeomorphically Learning Stable Koopman Operators

Author(s): Petar Bevanda; Max Beier; Sebastian Kerz; Armin Lederer; Stefan Sosnowski; Sandra Hirche
Published in: IEEE Control Systems Letters, Issue 24751456, 2022, Page(s) 3427 - 3432, ISSN 2475-1456
Publisher: IEEE
DOI: 10.1109/lcsys.2022.3184927

Safe trajectory tracking for underactuated vehicles with partially unknown dynamics

Author(s): Thomas Beckers; Leonardo J. Colombo; Sandra Hirche
Published in: Journal of Geometric Mechanics, Issue Volume 14, Issue 4, 2022, Page(s) 491-505, ISSN 1941-4889
Publisher: American Institute of Mathematical Sciences
DOI: 10.3934/jgm.2022018