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Rita Cunha
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2020 – today
- 2024
- [c51]Gil Serrano, Marcelo Jacinto, José Ribeiro-Gomes, João Pinto, Bruno Joao Nogueira Guerreiro, Alexandre Bernardino, Rita Cunha:
Physics-Informed Neural Network for Multirotor Slung Load Systems Modeling. ICRA 2024: 12592-12598 - [i10]Gil Serrano, Marcelo Jacinto, José Ribeiro-Gomes, João Pinto, Bruno Joao Nogueira Guerreiro, Alexandre Bernardino, Rita Cunha:
Physics-Informed Neural Network for Multirotor Slung Load Systems Modeling. CoRR abs/2405.09428 (2024) - 2023
- [j39]Igor M. L. Pataro
, Rita Cunha
, Juan D. Gil, José Luis Guzmán, Manuel Berenguel
, João Miranda Lemos:
Optimal model-free adaptive control based on reinforcement Q-Learning for solar thermal collector fields. Eng. Appl. Artif. Intell. 126: 106785 (2023) - [j38]Ioannis Mademlis
, Arturo Torres-González, Jesús Capitán, Maurizio Montagnuolo, Alberto Messina
, Fulvio Negro, Cédric Le Barz, Tiago Gonçalves, Rita Cunha
, Bruno Joao Nogueira Guerreiro
, Fan Zhang, Stephen Boyle, Gregoire Guerout, Anastasios Tefas
, Nikos Nikolaidis
, David Bull, Ioannis Pitas:
A multiple-UAV architecture for autonomous media production. Multim. Tools Appl. 82(2): 1905-1934 (2023) - [j37]Gan Yu
, Joel Reis
, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Reduced-Complexity Active Disturbance Rejection Controller for Quadrotor-Slung-Load Transportation. IEEE Trans. Syst. Man Cybern. Syst. 53(8): 5248-5259 (2023) - [c50]Francisco Santos, Daniel Silvestre
, Rita Cunha
:
Development and Experimental Validation of a LoRa Wireless Sensor Network for Wildfire Surveillance. CCTA 2023: 911-917 - [c49]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre:
Constructive Barrier Feedback for Collision Avoidance in Leader-Follower Formation Control. CDC 2023: 368-374 - [c48]Pedro Trindade, Rita Cunha
, Pedro Tiago Martins Batista:
First- and Second-Order Consensus with Constant Uniform Delays. CDC 2023: 4474-4479 - [c47]Simão Caeiro, Bruno Joao Nogueira Guerreiro, Rita Cunha:
Data-Driven Control Strategies for Rotary Wing Aerial Vehicles. ROBOT (2) 2023: 62-73 - [i9]Marcelo Jacinto
, João Pinto, Jay Patrikar, John Keller, Rita Cunha, Sebastian A. Scherer, António M. Pascoal:
Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation. CoRR abs/2307.05263 (2023) - [i8]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Constructive barrier feedback for collision avoidance in leader-follower formation control. CoRR abs/2310.14258 (2023) - 2022
- [j36]Gan Yu, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Aggressive maneuvers for a quadrotor-slung-load system through fast trajectory generation and tracking. Auton. Robots 46(4): 499-513 (2022) - [j35]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Relaxed bearing rigidity and bearing formation control under persistence of excitation. Autom. 141: 110289 (2022) - [j34]Bahare Sabetghadam
, Rita Cunha
, António M. Pascoal
:
Trajectory Generation for Drones in Confined Spaces Using an Ellipsoid Model of the Body. IEEE Control. Syst. Lett. 6: 1022-1027 (2022) - [j33]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Some properties of time-varying bearing formation. Eur. J. Control 68: 100699 (2022) - [j32]Bahare Sabetghadam
, Rita Cunha
, António M. Pascoal
:
A Distributed Algorithm for Real-Time Multi-Drone Collision-Free Trajectory Replanning. Sensors 22(5): 1855 (2022) - [j31]Marcelo Jacinto
, Rita Cunha
, António M. Pascoal
:
Chemical Spill Encircling Using a Quadrotor and Autonomous Surface Vehicles: A Distributed Cooperative Approach. Sensors 22(6): 2178 (2022) - [j30]Wei Xie
, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Adaptive Backstepping Control of a Quadcopter With Uncertain Vehicle Mass, Moment of Inertia, and Disturbances. IEEE Trans. Ind. Electron. 69(1): 549-559 (2022) - [j29]Wei Xie
, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Cooperative Path Following Control of Multiple Quadcopters With Unknown External Disturbances. IEEE Trans. Syst. Man Cybern. Syst. 52(1): 667-679 (2022) - [c46]Pedro Trindade
, Rita Cunha
, Pedro Batista:
Consensus: Optimal Coupling Gain Design. ACC 2022: 54-59 - [c45]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Bearing formation control under switching graph topologies. ECC 2022: 918-923 - [c44]Inês Ferreira, João Miranda Lemos, Rita Cunha
:
Reinforcement Learning Based Adaptive Control for Tumor Reduction. ICCAD 2022: 1-6 - [c43]Ana Oliveira
, Vasco Leal, Manuel Galamba, Rita Cunha:
AI for Urban Climate: An Eo-Based Approach for High-Resolution Mapping of Human Exposure to Heatwaves. IGARSS 2022: 4475-4478 - 2021
- [j28]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Formation control of a leader-follower structure in three dimensional space using bearing measurements. Autom. 128: 109567 (2021) - [j27]Wei Xie, Gan Yu, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Global Saturated Tracking Control of a Quadcopter With Experimental Validation. IEEE Control. Syst. Lett. 5(1): 169-174 (2021) - [j26]Alfonso Alcántara
, Jesús Capitán
, Rita Cunha
, Aníbal Ollero:
Optimal trajectory planning for cinematography with multiple Unmanned Aerial Vehicles. Robotics Auton. Syst. 140: 103778 (2021) - [c42]Tiago Oliveira, Pedro Trindade, David Cabecinhas
, Pedro Tiago Martins Batista, Rita Cunha
:
Rapid Development and Prototyping Environment for Testing of Unmanned Aerial Vehicles★. ICARSC 2021: 191-196 - [i7]Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre:
Relaxed bearing rigidity and bearing formation control under persistence of excitation. CoRR abs/2103.06024 (2021) - [i6]Zhiqi Tang, Rita Cunha, David Cabecinhas, Tarek Hamel, Carlos Silvestre:
Quadrotor going through a window and landing: An image-based visual servo control approach. CoRR abs/2110.06328 (2021) - [i5]Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre:
Formation control of a leader-follower structure in three dimensional space using bearing measurements. CoRR abs/2110.08054 (2021) - 2020
- [j25]Alfonso Alcántara
, Jesús Capitán
, Arturo Torres-González
, Rita Cunha
, Aníbal Ollero
:
Autonomous Execution of Cinematographic Shots With Multiple Drones. IEEE Access 8: 201300-201316 (2020) - [j24]Pedro Casau
, Rita Cunha
, Ricardo G. Sanfelice
, Carlos Silvestre
:
Hybrid Control for Robust and Global Tracking on Smooth Manifolds. IEEE Trans. Autom. Control. 65(5): 1870-1885 (2020) - [j23]Pedro O. Pereira
, Rita Cunha
, David Cabecinhas
, Carlos Silvestre
, Paulo Oliveira
:
A 3-D Trailer Approach to Leader-Following Formation Control. IEEE Trans. Control. Syst. Technol. 28(6): 2292-2308 (2020) - [c41]Pedro Casau
, Rita Cunha
, Carlos Silvestre
:
Improved Maneuverability for Multirotor Aerial Vehicles using Globally Stabilizing Feedbacks. ACC 2020: 3822-3827 - [c40]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Bearing-only formation control under persistence of excitation. CDC 2020: 4011-4016 - [i4]Alfonso Alcántara
, Jesús Capitán, Arturo Torres-González, Rita Cunha, Aníbal Ollero:
Autonomous Execution of Cinematographic Shots with Multiple Drones. CoRR abs/2006.12163 (2020) - [i3]Zhiqi Tang, Rita Cunha, Tarek Hamel, Carlos Silvestre:
Bearing-only formation control under persistence of excitation. CoRR abs/2009.00209 (2020) - [i2]Alfonso Alcántara, Jesús Capitán, Rita Cunha, Aníbal Ollero:
Optimal Trajectory Planning for Cinematography with Multiple Unmanned Aerial Vehicles. CoRR abs/2009.04234 (2020)
2010 – 2019
- 2019
- [j22]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
A trajectory tracking control law for a quadrotor with slung load. Autom. 106: 384-389 (2019) - [j21]Zhiqi Tang
, Rita Cunha
, Tarek Hamel
, Carlos Silvestre
:
Aircraft Landing Using Dynamic Two-Dimensional Image-Based Guidance Control. IEEE Trans. Aerosp. Electron. Syst. 55(5): 2104-2117 (2019) - [j20]David Cabecinhas
, Sérgio Bras
, Rita Cunha
, Carlos Silvestre
, Paulo Oliveira
:
Integrated Visual Servoing Solution to Quadrotor Stabilization and Attitude Estimation Using a Pan and Tilt Camera. IEEE Trans. Control. Syst. Technol. 27(1): 14-29 (2019) - [j19]Wei Xie
, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Robust Motion Control of an Underactuated Hovercraft. IEEE Trans. Control. Syst. Technol. 27(5): 2195-2208 (2019) - [c39]Bahare Sabetghadam
, Alfonso Alcántara
, Jesús Capitán, Rita Cunha
, Aníbal Ollero, António M. Pascoal
:
Optimal Trajectory Planning for Autonomous Drone Cinematography. ECMR 2019: 1-7 - 2018
- [j18]Bruno Joao Nogueira Guerreiro
, Carlos Silvestre
, Rita Cunha
, David Cabecinhas
:
LiDAR-Based Control of Autonomous Rotorcraft for the Inspection of Pierlike Structures. IEEE Trans. Control. Syst. Technol. 26(4): 1430-1438 (2018) - [c38]Zhiqi Tang
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
:
Going through a window and landing a quadrotor using optical flow. ECC 2018: 2917-2922 - 2017
- [j17]Pedro O. Pereira, Rita Cunha
, David Cabecinhas
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
Leader following trajectory planning: A trailer-like approach. Autom. 75: 77-87 (2017) - [c37]Pedro Casau
, Rita Cunha
, Ricardo G. Sanfelice
, Carlos Silvestre
:
Hybrid feedback for global asymptotic stabilization on a compact manifold. CDC 2017: 2384-2389 - [c36]Arturo Torres-González
, Jesús Capitán, Rita Cunha
, Aníbal Ollero, Ioannis Mademlis
:
A Multidrone Approach for Autonomous Cinematography Planning. ROBOT (1) 2017: 337-349 - [c35]Alexandre Gomes, Bruno Joao Nogueira Guerreiro
, Rita Cunha
, Carlos Silvestre
, Paulo Oliveira
:
Sensor-Based 3-D Pose Estimation and Control of Rotary-Wing UAVs Using a 2-D LiDAR. ROBOT (1) 2017: 718-729 - [i1]Bruno Joao Nogueira Guerreiro, Carlos Silvestre, Rita Cunha, David Cabecinhas:
LiDAR-based Control of Autonomous Rotorcraft for the Inspection of Pier-like Structures: Proofs. CoRR abs/1705.01332 (2017) - 2016
- [j16]David Cabecinhas
, Roberto Naldi, Carlos Silvestre
, Rita Cunha
, Lorenzo Marconi:
Robust Landing and Sliding Maneuver Hybrid Controller for a Quadrotor Vehicle. IEEE Trans. Control. Syst. Technol. 24(2): 400-412 (2016) - [j15]Pedro Serra
, Rita Cunha
, Tarek Hamel, David Cabecinhas
, Carlos Silvestre
:
Landing of a Quadrotor on a Moving Target Using Dynamic Image-Based Visual Servo Control. IEEE Trans. Robotics 32(6): 1524-1535 (2016) - 2015
- [j14]Pedro Casau
, Ricardo G. Sanfelice
, Rita Cunha
, David Cabecinhas
, Carlos Silvestre
:
Robust global trajectory tracking for a class of underactuated vehicles. Autom. 58: 90-98 (2015) - [j13]Pedro Serra
, Rita Cunha
, Tarek Hamel, Carlos Silvestre
, Florent Le Bras:
Nonlinear Image-Based Visual Servo Controller for the Flare Maneuver of Fixed-Wing Aircraft Using Optical Flow. IEEE Trans. Control. Syst. Technol. 23(2): 570-583 (2015) - [j12]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
A Globally Stabilizing Path Following Controller for Rotorcraft With Wind Disturbance Rejection. IEEE Trans. Control. Syst. Technol. 23(2): 708-714 (2015) - [c34]Bruno Joao Nogueira Guerreiro
, Carlos Silvestre
, Rita Cunha
:
LiDAR-Based Control of Autonomous Rotorcraft for Inspection of Pole-Shaped Structures. ROBOT (1) 2015: 609-621 - 2014
- [j11]Valter Roldão, Rita Cunha
, David Cabecinhas
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
A leader-following trajectory generator with application to quadrotor formation flight. Robotics Auton. Syst. 62(10): 1597-1609 (2014) - [j10]Bruno Joao Nogueira Guerreiro
, Carlos Silvestre
, Rita Cunha
, António Manuel Santos Pascoal
:
Trajectory Tracking Nonlinear Model Predictive Control for Autonomous Surface Craft. IEEE Trans. Control. Syst. Technol. 22(6): 2160-2175 (2014) - [c33]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
A nonlinear quadrotor trajectory tracking controller with disturbance rejection. ACC 2014: 560-565 - [c32]Pedro Serra
, Rita Cunha
, Tarek Hamel, David Cabecinhas
, Carlos Silvestre
:
Landing on a moving target using image-based visual servo control. CDC 2014: 2179-2184 - [c31]Pedro O. Pereira, Rita Cunha
, David Cabecinhas
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
Trailer-like leader following trajectory planning. CDC 2014: 3725-3730 - [c30]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
A robust landing and sliding maneuver controller for a quadrotor vehicle on a sloped incline. ICRA 2014: 523-528 - [c29]Pedro Casau
, Ricardo G. Sanfelice
, Rita Cunha
, David Cabecinhas
, Carlos Silvestre
:
A hybrid feedback controller for robust global trajectory tracking of quadrotor-like vehicles with minimized attitude error. ICRA 2014: 6272-6277 - [c28]Pedro O. Pereira, David Cabecinhas
, Rita Cunha
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
Three dimensional trajectory planner for real time leader following. ICRA 2014: 6561-6566 - 2013
- [j9]Sérgio Bras
, Rita Cunha
, Carlos Jorge Ferreira Silvestre
, Paulo Jorge Ramalho Oliveira
:
Nonlinear Attitude Observer Based on Range and Inertial Measurements. IEEE Trans. Control. Syst. Technol. 21(5): 1889-1897 (2013) - [c27]Pedro Casau
, Ricardo G. Sanfelice
, Rita Cunha, David Cabecinhas, Carlos Silvestre
:
Global trajectory tracking for a class of underactuated vehicles. ACC 2013: 419-424 - [c26]David Cabecinhas, Rita Cunha, Carlos Silvestre
:
Experimental validation of a globally stabilizing feedback controller for a quadrotor aircraft with wind disturbance rejection. ACC 2013: 1024-1029 - [c25]Daniel Silvestre
, Paulo Andre Nobre Rosa
, Rita Cunha
, João P. Hespanha, Carlos Silvestre
:
Gossip average consensus in a Byzantine environment using stochastic Set-Valued Observers. CDC 2013: 4373-4378 - [c24]David Cabecinhas, Rita Cunha, Carlos Silvestre
:
Experimental validation of a nonlinear quadrotor controller with wind disturbance rejection. ECC 2013: 1811-1816 - [c23]Valter Roldão, Rita Cunha, David Cabecinhas, Carlos Silvestre
, Paulo Oliveira:
A novel leader-following strategy applied to formations of quadrotors. ECC 2013: 1817-1822 - [c22]Bruno Joao Nogueira Guerreiro, Carlos Silvestre
, Rita Cunha, António M. Pascoal:
Trajectory tracking nonlinear model predictive control for autonomous surface craft. ECC 2013: 3006-3011 - 2012
- [j8]Bruno Joao Nogueira Guerreiro
, Carlos Silvestre
, Rita Cunha
:
Terrain Avoidance Nonlinear Model Predictive Control for Autonomous Rotorcraft. J. Intell. Robotic Syst. 68(1): 69-85 (2012) - [j7]David Cabecinhas
, Roberto Naldi, Lorenzo Marconi, Carlos Silvestre
, Rita Cunha
:
Robust Take-Off for a Quadrotor Vehicle. IEEE Trans. Robotics 28(3): 734-742 (2012) - [c21]David Cabecinhas, Rita Cunha, Carlos Silvestre
:
Saturated output feedback control of a quadrotor aircraft. ACC 2012: 4667-4602 - [c20]Pedro Casau
, Ricardo G. Sanfelice
, Rita Cunha
, Carlos Silvestre
:
A landmark-based controller for global asymptotic stabilization on SE(3). CDC 2012: 496-501 - [c19]Pedro Serra
, Rita Cunha
, Carlos Silvestre
, Tarek Hamel:
Visual servo aircraft control for tracking parallel curves. CDC 2012: 1148-1153 - [c18]David Cabecinhas
, Sérgio Bras
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
, Rita Cunha
:
Integrated solution to quadrotor stabilization and attitude estimation using a pan and tilt camera. CDC 2012: 3151-3156 - 2011
- [j6]Rita Cunha
, Carlos Silvestre
, João Pedro Hespanha, A. Pedro Aguiar
:
Vision-based control for rigid body stabilization. Autom. 47(5): 1020-1027 (2011) - [j5]Sérgio Bras
, Rita Cunha
, José Fernandes Vasconcelos, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements. IEEE Trans. Robotics 27(4): 664-677 (2011) - 2010
- [j4]José Fernandes Vasconcelos, Rita Cunha
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
A nonlinear position and attitude observer on SE(3) using landmark measurements. Syst. Control. Lett. 59(3-4): 155-166 (2010) - [c17]Sérgio Bras
, Rita Cunha, José Fernandes Vasconcelos, Carlos Silvestre
, Paulo Oliveira:
Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements. ACC 2010: 4552-4557 - [c16]David Cabecinhas
, Carlos Silvestre
, Rita Cunha
:
Vision-based quadrotor stabilization using a pan and tilt camera. CDC 2010: 1644-1649 - [c15]Pedro Serra
, Florent Le Bras, Tarek Hamel, Carlos Silvestre
, Rita Cunha
:
Nonlinear IBVS controller for the flare maneuver of fixed-wing aircraft using optical flow. CDC 2010: 1656-1661 - [c14]David Cabecinhas
, Roberto Naldi, Lorenzo Marconi, Carlos Silvestre
, Rita Cunha
:
Robust take-off and landing for a quadrotor vehicle. ICRA 2010: 1630-1635
2000 – 2009
- 2009
- [j3]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Almost global stabilization of fully-actuated rigid bodies. Syst. Control. Lett. 58(9): 639-645 (2009) - [j2]Carlos Silvestre
, Rita Cunha
, Nuno Paulino
, António M. Pascoal
:
A Bottom-Following Preview Controller for Autonomous Underwater Vehicles. IEEE Trans. Control. Syst. Technol. 17(2): 257-266 (2009) - [c13]Bruno Joao Nogueira Guerreiro
, Carlos Silvestre
, Rita Cunha
, Chengyu Cao, Naira Hovakimyan:
L1 adaptive control for autonomous rotorcraft. ACC 2009: 3250-3255 - [c12]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Rotorcraft path following control for extended flight envelope coverage. CDC 2009: 3460-3465 - [c11]Sérgio Bras
, Rita Cunha
, José Fernandes Vasconcelos, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
Nonlinear attitude estimation using active vision and inertial measurements. CDC 2009: 6496-6501 - [c10]Bruno Joao Nogueira Guerreiro, Carlos Silvestre
, Rita Cunha, António M. Pascoal:
Trajectory tracking nonlinear model predictive control for autonomous surface craft. ECC 2009: 1311-1316 - [c9]Rita Cunha, David Cabecinhas, Carlos Silvestre
:
Nonlinear trajectory tracking control of a quadrotor vehicle. ECC 2009: 2763-2768 - [c8]José Fernandes Vasconcelos, Rita Cunha, Carlos Silvestre
, Paulo Oliveira:
Stability of a nonlinear attitude observer on SO(3) with nonideal angular velocity measurements. ECC 2009: 2769-2774 - 2008
- [j1]Rita Cunha
, Carlos Silvestre
, João Pedro Hespanha:
Output-feedback control for stabilization on SE(3). Syst. Control. Lett. 57(12): 1013-1022 (2008) - [c7]Alex Alcocer Peñas, Paulo Jorge Ramalho Oliveira
, António Manuel Santos Pascoal
, Rita Cunha
, Carlos Silvestre
:
A dynamic estimator on SE(3) using range-only measurements. CDC 2008: 2302-2307 - [c6]David Cabecinhas
, Rita Cunha
, Carlos Silvestre
:
Output-feedback control for almost global stabilization of fully-actuated rigid bodies. CDC 2008: 3583-3588 - 2007
- [c5]José Fernandes Vasconcelos, Rita Cunha
, Carlos Silvestre
, Paulo Jorge Ramalho Oliveira
:
Landmark based nonlinear observer for rigid body attitude and position estimation. CDC 2007: 1033-1038 - [c4]Rita Cunha
, Carlos Silvestre
, João Pedro Hespanha, A. Pedro Aguiar
:
Vision-based control for rigid body stabilization. CDC 2007: 2345-2350 - 2006
- [c3]Nuno Paulino, Carlos Silvestre
, Rita Cunha, António M. Pascoal:
A Bottom-Following Preview Controller for Autonomous Underwater Vehicles. CDC 2006: 715-720 - [c2]Rita Cunha, Carlos Silvestre
, João Pedro Hespanha:
Output-feedback control for stabilization on SE(3). CDC 2006: 3825-3830 - 2003
- [c1]Rita Cunha, Carlos Silvestre
, António M. Pascoal:
A path following controller for model-scale helicopters. ECC 2003: 2248-2253
Coauthor Index
aka: Paulo Jorge Ramalho Oliveira
aka: António Manuel Santos Pascoal
aka: Carlos Jorge Ferreira Silvestre
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