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

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