Journal papers

[J22] J. Chen, B. Jayawardhana, HG de Marina. Distributed Distance-based Formation-Motion Control of Unicycle Agents without Orientation Measurements. Transactions on Control of Network Systems. 2024.

[J21] J. Chen, B. Jayawardhana, HG de Marina. Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only. IEEE Transactions on Automatic Control. 2024.

[J20] W. Yao, HG de Marina, Z. Sun, M. Cao. Guiding vector fields for the distributed motion coordination of mobile robots. IEEE Transactions on Robotics, 39 (2), 1119-1135. 2023.

[J19] H. Wu, B. Jayawardhana, H.G. de Marina, D. Xu. Distributed formation control for manipulator end-effectors. IEEE Transactions on Automatic Control, 68 (9), 5413-5428. 2023.

[J18] L. Chen; Z. Lin, HG de Marina, Z. Sun, F. Mir. Maneuvering Angle Rigid Formations with Global Convergence Guarantee. IEEE/CAA Journal of Automatica Sinica, 9 (8), 1464–1475. 2022.

[J17] L. Chen, M. Shi, HG de Marina, M. Cao. Stabilizing and maneuvering angle rigid multi-agent formations with double-integrator agent dynamics. IEEE Transactions on Control of Network Systems, 9 (3), 1362-1374. 2022.

[J16] N Chan, B Jayawardhana, HG de Marina. Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: The Three Robot Case. IEEE Transactions on Automatic Control, 67 (8), 4285 - 4292. 2022.

[J15] L Colombo, HG de Marina. Forced Variational Integrators for the Formation Control of Multi-Agent Systems. IEEE Transactions on Control of Network Systems, 8(3), 1336-1347, 2021.

[J14] W.Yao, HG de Marina, B Lin, M.Cao. Singularity-free Guiding Vector Field for Robot Navigation. IEEE Transactions on Robotics, 37 (4), 1206-1221. 2021.

[J13] L Chen, M Cao, HG de Marina. Maneuvering formations of mobile agents using designed mismatched angles. IEEE Transactions on Automatic Control, 67 (4), 1655-1668, 2021.

[J12] HG de Marina. Distributed formation maneuver control by manipulating the complex Laplacian. Automatica, 132, 2021.

[J11] Z Sun, HG de Marina, BDO Anderson, C. Yu. Collaborative target-tracking control using multiple autonomous fixed-wing UAVs with constant speeds. AIAA Journal of Guidance, Control, and Dynamics. 44(2), 238–250. 2021.

[J10] HG de Marina. Maneuvering and robustness issues in undirected displacement-consensus-based formation control. IEEE Transactions on Automatic Control, 66 (7), 3370-3377. 2021.

[J9] N Chan, B Jayawardhana, HG de Marina. Angle-Constrained Formation Control for Circular Mobile Robots. IEEE Control Systems Letters, 5 (1), 109-114. 2021.

[J8] Z Sun, HG de Marina, G Seyboth, BDO Anderson, C Yu. Circular formation control of multiple unicycle-type agents with non-identical constant speeds. IEEE Transactions on Control Systems and Technology, 27 (1), 192-205. 2019.

[J7] Q Yang, M Cao, HG de Marina, H Fang, J Chen. Distributed formation tracking using local coordinate systems.  Systems & Control Letters. 111, 70–78. 2018.

[J6] Z Sun, HG de Marina, BDO Anderson, M Cao. Quantization effects and convergence properties of rigid formation control systems with quantized distance measurements. International Journal of Robust and Nonlinear Control, 28 (16), 4865-4884. 2018.

[J5] HG de Marina, B Jayawardhana, M Cao. Taming Mismatches in Inter-agent Distances for the Formation-Motion Control of Second-Order Agents. IEEE Transactions on Automatic Control,  63 (2), 449-462. 2018.

[J4] HG de Marina, B Jayawardhana, M Cao. Distributed Rotational and Translational Maneuvering of Rigid Formations and Their Applications. IEEE Transactions on Robotics, 32 (3), 684-696. 2016.

[J3] HG de Marina, M Cao, B Jayawardhana. Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements. IEEE Transactions on Robotics 31 (1), 31-39. 2015.

[J2] HG de Marina, F Espinosa, C Santos. Adaptive UAV attitude estimation employing unscented kalman filter, FOAM and low-cost MEMS sensors. Sensors 12 (7), 9566-9585. 2012.

[J1] HG de Marina, FJ Pereda, JM Giron-Sierra, F Espinosa. UAV attitude estimation using unscented Kalman filter and TRIAD. IEEE Transactions on Industrial Electronics 59 (11), 4465-4474. 2012.

Conference Papers

[C37] Yang Lu, Sha Luo, Pengming Zhu, Weijia Yao, Hector Garcia de Marina, Xinglong Zhang, and Xin Xu. Distributed Versatile Maneuvering with Generalized Formations Using Guiding Vector Fields. To appear in the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2025.

[C36] Yu Zhou, Jesús Bautista Villar, Weijia Yao, and Hector Garcia de Marina. Inverse Kinematics on Guiding Vector Fields for Robot Path Following. To appear in the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2025.

[C35] A. Acuaviva, J. Bautista, W. Yao, J. Jiménez, HG de Marina. Resilient source seeking with robot swarms. In the proceedings of the 63rd IEEE Conference on Decision and Control (CDC) 2024.

[C34] J Bautista, HG de Marina. Behavioral-based circular formation control for robot swarms. In the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2024.

[C33] J. Chen, B. Jayawardhana, HG de Marina. Distance-based Formation-Motion Control for Unicycle Agents. In the proceedings of the American Control Conference (ACC) 2023. 

[C32] A. Seewald, HG de Marina, H. Skov, U. Pagh. Energy-Aware Planning-Scheduling for Autonomous Aerial Robots. In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022.

[C31] HG de Marina, J Jimenez, W Yao. Leaderless collective motions in affine formation control. In the proceedings of the 60th IEEE Conference on Decision and Control (CDC) 2021.

[C30] Haiwen Wu, Bayu Jayawardhana, HG de Marina, Dabo Xu. Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection. In the proceedings of the 60th IEEE Conference on Decision and Control (CDC) 2021.

[C29] W Yao, HG de Marina, Z Sun, M Cao. Distributed coordinated path following  using guiding vector fields . In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2021. Nominated for Best Paper Award! Top 4 among 1946 accepted works out of 4005 submissions!

[C28] W Yao, HG de Marina, M Cao. Mobile Robot Path Following Control in 2D Using a 3D Guiding Vector Field: Singularity Elimination and Global Convergence. In the proceedings 59th IEEE Conference on Decision and Control (CDC) 2020.

[C27] L Colombo, P Moreno, M Ye, HG de Marina, M Cao. Forced variational integrator for distance-based shape control with flocking behavior of multi-agent systems. In the proceedings 21st IFAC World Congress 2020.

[C26] L Colombo, HG de Marina, M Barbero, D Martin de Diego. On the observability of relative positions in left-invariant multi-agent control systems and its application to formation control. In the proceedings 58th IEEE Conference on Decision and Control (CDC) 2019. 

[C25] L Chen, M Cao, HG de Marina, B Jayawardhana, C Li. Triangular formation maneuver using designed mismatched angles. In the proceedings IEEE European Control Conference (ECC) 2019.

[C24] HG de Marina, E Smeur. Flexible collaborative transportation by a team of rotorcraft. In the proceedings IEEE International Conference on Robotics and Automation (ICRA) 2019.

[C23] HG de Marina, Z Sun, S Mou. On the stability and applications of distance-based flexible formations. 57th IEEE Conference on Decision and Control (CDC) 2018.

[C22] HG de Marina, J Siemonsma, B Jayawardhana, M Cao. Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation. 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) 2018. Nominated for Best Paper Award! Top 5 among 300+ accepted works.

[C21] L Colombo, HG de Marina. A Variational Integrator for the distance-based formation control of multi-agent systems. 7th IFAC Workshop on Distributed and Control in Networked Systems 2018.

[C20] M Bronz, E Smeur, HG de Marina, G Hattenberger. Development of A Fixed-Wing mini UAV with Transitioning Flight Capability. 35th AIAA Applied Aerodynamics Conference 2017.

[C19] Rafael Bailon-Ruiz, Christophe Reymann, Simon Lacroix, Gautier Hattenberger, HG de Marina, Fayçal Lamraoui. System simulation of a fleet of drones to probe cumulus clouds.  International Conference on Unmanned Aircraft Systems 2017.

[C18] HG de Marina, Z Sun, M Bronz, G Hattenberger. Circular formation control of fixed-wing UAVs with constant speeds. In proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2017.

[C17] M Bronz, HG de Marina, G Hattenberger In-Flight Thrust Measurement using On-Board Force Sensor.  AIAA Atmospheric Flight Mechanics Conference 2017.

[C16] Y Kapitanyuk, HG de Marina, A Proskurnikov, M Cao. Guiding Vector Field Algorithm for a Moving Path Following Problem. In proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.

[C15] HG de Marina, B Jayawardhana, M Cao. Distributed algorithm for controlling scale-free polygonal formations. In proceedings on the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.

[C14] HG de Marina, Z. Sun, M. Cao, and B. D. O. Anderson. Controlling a triangular flexible formation of autonomous agents. In proceedings of the 20th World Congress of the International Federation of Automatic Control (IFAC) 2017.

[C13] HG de Marina, YA Kapitanyuk, M Bronz, G Hattenberger, M Cao. Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows. In proceedings IEEE International Conference on Robotics and Automation (ICRA) 2017.

[C12] HG de Marina, B Jayawardhana, M Cao. Disitrubted scaling control for rigid formations. In proceedings IEEE 55th Conference on Decision and Control (CDC) 5140 – 5145. 2016.

[C11] HG de Marina, B Jayawardhana, M Cao. On the Role and Compensation of Distance Mismatches in Rigid Formation Control for Second-Order Agents. IFAC-PapersOnLine 49 (18), 398-403 (NOLCOS) 2016.

[C10] Z. Sun, HG de Marina, B. D. O. Anderson, and M. Cao. Quantization effects in rigid formation control. 6th Australian Control Conference (AUCC’16), Newcastle, Australia, 2016.

[C9] H Liu, HG de Marina, M Cao. Controlling triangular formations of autonomous agents in finite time using coarse measurements. IEEE International Conference on Robotics and Automation (ICRA), 3601-3606. 2014.

[C8] HG de Marina, M Cao, B Jayawardhana. Controlling Formation of Autonomous Agents with Distance Disagreements. Estimation and Control of Networked Systems (NECSYS) 4 (1), 411-416. 2013.

[C7] A Marcos, HG De Marina, V Mantini, C Roux, S Bennani. Optimization-based worst-case analysis of a launcher during the atmospheric ascent phase. AIAA Guidance, Navigation, and Control Conference and Exhibit. 2013.

[C6] HG de Marina, A Marcos, R Haya. Angle of Attack and True Airspeed failure sensor detection and recovery based on Unscented Kalman Filters for the ALPHA vehicle. Fault Detection, Supervision and Safety of Technical Processes 8 (1), 1197-1202. 2012.

[C5] FJ Pereda, HG de Marina, JM Giron-Sierra, J Jimenez. Towards automatic oil spill confinement with autonomous marine surface vehicles. OCEANS IEEE-Spain. 2011.

[C4] JM Giron-Sierra, F Pereda, HG de Marina, S Cifuentes. Developing an Autonomous Surface Ship for Sea Demining. IFAC Proceedings Volumes 43 (20), 91-96. 2010.

[C3] HG de Marina, FJ Pereda, JM Girón-Sierra. Path planning combined with fuzzy control for autonomous ships. IEEE International Conference on Computational Intelligence for Measurement Systems and Applications. 2010.

[C2] FJ Pereda, HG de Marina, JF Jiménez, JM Giron-Sierra. Sea demining with autonomous marine surface vehicles. IEEE Safety Security and Rescue Robotics. 2010.

[C1] FJ Pereda, HG de Marina, JF Jiménez, JM Giron-Sierra. A development project of autonomous marine surface vehicles for sea demining. 11th International Conference on Control Automation Robotics&Vision. 2010.