Publications


Journal Papers

[1]
Pedro Lourenço, “Localização e mapeamento simultâneos globalmente convergentes,” robótica, no. 121, pp. 4–7, Oct. 2020.
[1]
P. Lourenço, B. J. 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, pp. 1–20, Aug. 2020, doi: 10.1016/j.robot.2020.103552.
[1]
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, Mar. 2019, doi: 10.1016/j.robot.2018.12.005.
[1]
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, Feb. 2018, doi: 10.1016/j.robot.2017.11.001.
[1]
P. Lourenço, B. J. 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, Jan. 2017, doi: 10.1016/j.patcog.2016.07.037.
[1]
P. Lourenço, B. J. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre, “Simultaneous Localization and Mapping for Aerial Vehicles: a 3-D sensor-based GAS filter,” Autonomous Robots, vol. 40, no. 5, pp. 881–902, Jun. 2016, doi: 10.1007/s10514-015-9499-z.
[1]
P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and C. L. P. Chen, “Sensor-based Globally Exponentially Stable Range-Only Simultaneous Localization and Mapping,” Robotics and Autonomous Systems, vol. 68, pp. 72–85, Jun. 2015, doi: 10.1016/j.robot.2015.01.010.

Conference Papers

[1]
J. Branco, P. Colmenarejo, P. Serra, P. Lourenço, T. V. Peters, and M. Mammarella, “Critical GNC Aspects for ADR missions,” in Proceedings of the 11th International ESA Conference on Guidance, Navigation & Control Systems, Sopot, Poland (Virtual), 2021.
[1]
T. V. Peters et al., “Design and testing of the GNC for the HERACLES Lunar Ascent Element,” in Proceedings of the 11th International ESA Conference on Guidance, Navigation & Control Systems, Sopot, Poland (Virtual), 2021.
[1]
P. Lourenço, J. Franco, T. Milhano, and J. Branco, “Model Predictive Control for On-Board-Optimized Attitude Guidance for Cometary Fly-By - Problem Statement, Solutions and V&V Process,” in Proceedings of the 8th International Conference on Astrodynamics Tools and Techniques, Sopot, Poland (Virtual), 2021.
[1]
P. Serra et al., “Computational Guidance & Navigation for Bearings-Only Rendezvous – methods and outcomes of GUIBEAR,” in Proceedings of the 11th International ESA Conference on Guidance, Navigation & Control Systems, Sopot, Poland (Virtual), 2021.
[1]
P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre, “Towards Uncertainty Optimization in Active SLAM,” in Proc. of the 54th IEEE Conference on Decision and Control, Osaka, Japan, 2015, pp. 3242–3247, doi: 10.1109/CDC.2015.7402706.
[1]
P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre, “Simultaneous Localization and Mapping in Sensor Networks: a GES sensor-based filter with moving object tracking,” in Proc. of the 2015 European Control Conference, Linz, Austria, 2015, pp. 2359–2364, doi: 10.1109/ECC.2015.7330890.
[1]
P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre, “A Globally Exponentially Stable filter for Bearing-Only Simultaneous Localization and Mapping in 3-D,” in Proc. of the 2015 European Control Conference, Linz, Austria, 2015, pp. 2817–2822.
[1]
P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and C. L. P. Chen, “Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping,” in Proc. of the 52nd IEEE Conference on Decision and Control, Florence, Italy, 2013, pp. 5692–5697, doi: 10.1109/CDC.2013.6760786.
[1]
P. Lourenço, B. J. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre, “3-D Inertial Trajectory and Map Online Estimation: Building on a GAS Sensor-based SLAM filter,” in Proc. of the 2013 European Control Conference, Zurich, Switzerland, 2013, pp. 4214–4219, doi: 10.23919/ECC.2013.6669679.
[1]
P. Lourenço, P. Batista, P. Oliveira, C. Silvestre, and C. L. P. Chen, “A Received Signal Strength Indication-Based Localization System,” in Proc. of the 21st Mediterranean Conference on Control and Automation, Crete, Greece, 2013, pp. 1242–1247, doi: 10.1109/MED.2013.6608878.
[1]
P. Lourenço, B. J. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre, “Preliminary Results on Globally Asymptotically Stable Simultaneous Localization and Mapping in 3-D,” in Proc. of the 2013 American Control Conference, Washington D.C., USA, 2013, pp. 3093–3098, doi: 10.1109/ACC.2013.6580305.

Book Chapters

[1]
P. Lourenço, B. J. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre, “New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation,” in Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, T. I. Fossen, K. Y. Pettersen, and H. Nijmeijer, Eds. Springer, 2017 [Online]. Available: https://link.springer.com/chapter/10.1007%2F978-3-319-55372-6_6

Poster Presentations

[1]
P. Lourenço, B. J. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre, "Earth-fixed Trajectory and Map online estimation: building on GES sensor-based SLAM filters," presented at the Ciência 2017 - Portuguese Science and Technology Meeting, Lisboa, Portugal, 2017 [Online]. Available:
[1]
P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre, "New design techniques for globally convergent simultaneous localization and mapping: analysis and implementation," presented at the Ciência 2016 - Portuguese Science and Technology Meeting, Lisboa, Portugal, 2016 [Online]. Available:
[1]
P. Lourenço, "New design techniques for globally convergent simultaneous localization and mapping: analysis and implementation," presented at the IST PhD Open Days, Lisboa, Portugal, 2016 [Online]. Available:
[1]
P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre, "A Globally Exponentially Stable filter for Bearing-Only Simultaneous Localization and Mapping in 3-D," presented at the LARSyS Annual Conference, Lisboa, Portugal, 2015 [Online]. Available:
[1]
P. Lourenço, P. Batista, P. Oliveira, and C. Silvestre, "Sensor-based Globally Exponentially Stable Range-Only Simultaneous Localization and Mapping," presented at the LARSyS Annual Meeting 2014, Lisboa, Portugal, 2014 [Online]. Available:
[1]
P. Lourenço, B. J. Guerreiro, P. Batista, P. Oliveira, and C. Silvestre, "Simultaneous Localization and Mapping for Aerial Vehicles," presented at the LARSyS Annual Meeting 2013, Lisboa, Portugal, 2013 [Online]. Available:

Thesis

[1]
P. Lourenço, "Globally Convergent Simultaneous Localization and Mapping: Design Techniques, Analysis, and Implementation," PhD Dissertation, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, Portugal, 2019 [Online]. Available:
[1]
P. Lourenço, "Analysis, Design, and Implementation of an Integrated Simultaneous Localization and Mapping Algorithm," Master's thesis, Instituto Superior Técnico, Universidade Técnica de Lisboa, Lisboa, Portugal, 2012 [Online]. Available:

Academic Service

Peer-reviewed more than 20 papers for the international journals
* Journal of Intelligent and Robotic Systems
* IEEE Transactions on Systems, Man, and Cibernetics
* Applied Soft Computing
and for the international conferences
* American Control Conference
* Conference on Decision and Control
* European Control Conference
* IEEE/RSJ International Conference on Intelligent Robots and Systems
* IEEE Conference on Control Technology and Applications
* IFAC World Congress
* IFAC Symposium on Automatic Control in Aerospace
* IFAC Intelligent Autonomous Vehicles Symposium
* Iberian Robotics Conference
* Mediterranean Conference
on Control and Automation