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Contribution in a journal Open access

Advanced Technologies for Maritime and Underwater Archaeology-2nd Edition

Prieto, Javier Bruno, Fabio Lagudi, Antonio Ricca, Michela La Russa, Mauro Francesco Papatheodorou, George Mišković, Nikola

2026

Underwater cultural heritage (UCH) is one of the richest and most vulnerable records of humankind's past [...]

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

Journal of marine science and engineering Vol. 14, Br. 13, str. 1200–1204

DOI10.3390/jmse14131200 eISSN2077-1312

CoE MARBLE

maritime technologies maritime and underwater archaeology

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Contribution in a journal Open access

Multiple Mobile Target Detection and Tracking in Small Active Sonar Array

Abu, Avi Mišković, Nikola Cukrov, Neven Diamant, Roee

2025

Biodiversity monitoring requires the discovery of multi-target tracking. The main requirement is not to reduce the localization error but the continuity of the tracks: a high ratio between the duration of the track and the lifetime of the target. To …

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

Remote sensing Vol. 17, Br. 11

DOI10.3390/rs17111925 eISSN2072-4292

CoE MARBLE

sonar images multi-target tracking adaptive beamforming tracking underwater target detection biodiversity estimation

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Contribution in a journal Open access

CSBenchLab : A unified control system benchmarking toolbox

Mandić, Luka Novosel, Tin Mišković, Nikola

2026

A persistent challenge troubles the control system research community, which centers around the development of novel control methodologies and their evaluation under biased conditions. This bias is usually induced by using custom-tailored benchmarkin…

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

Control engineering practice Vol. 173

DOI10.1016/j.conengprac.2026.106984 eISSN1873-6939 pISSN0967-0661

CoE MARBLE

Control system designControl algorithmsDynamical systemsBenchmark examplesMATLAB toolboxPython toolbox

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Contribution in a journal Open access

Diver velocity estimation using inertial measurements and LSTM neural networks trained on DVL data

Slošić, Vladimir Batoš, Matko Nađ, Đula Mišković, Nikola

2026

Accurate underwater velocity estimation is vital for enhancing diver navigation and minimizing inertial localization errors. However, existing approaches often fail to provide both accuracy and affordability. This study presents an LSTM-based model f…

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

Control engineering practice Vol. 174

DOI10.1016/j.conengprac.2026.107018 eISSN1873-6939 pISSN0967-0661

CoE MARBLE

AI and embodied-AI in marine systems Marine system guidance Navigation and control Sensors and actuators in marine systems

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Contribution in a journal Open access

DMIAN: deep learning-based Multi-IMU fusion for enhanced marine aided navigation

Batoš, Matko Nađ, Đula

2026

Learned inertial odometry has advanced rapidly across domains, especially in the GNSS-denied environments. This paper introduces a learning-based approach that combines multiple IMUs with a DVL to improve velocity estimation for marine vehicles. The …

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

Control engineering practice Vol. 173

DOI10.1016/j.conengprac.2026.106991 eISSN1873-6939 pISSN0967-0661

CoE MARBLE

Deep learningInertial navigationMulti-IMULong-Short Term Memory (LSTM)Autonomous Surface Vehicle (ASV)Aiding sensorsDoppler Velocity Logger (DVL)

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Conference paper Open access

Hierarchical LLM-Driven Mission Planning for Heterogeneous Maritime Robot Teams

Tran, Thi Ferreira, Fausto Miguel Pascoal Arbanas Pascoal Ferreira, Barbara

2026

This paper presents a hybrid mission planning framework that integrates large language models (LLMs) with mathematical optimisation for heterogeneous maritime multi-robot systems. A centralised LLM-based cognitive layer interprets natural-language in…

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

European Robotics Forum 2026

European Robotics Forum 2026 2026

CoE MARBLE

Mission planning large language models heterogeneous multi-robot systems maritime robotics MILP

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Contribution in a journal Open access

System Architecture and Implementation of a Path-Planning Module for Autonomous Vessels

Krizman, Enio Kapetanović, Nadir Nađ, Đula

2025

This paper presents a modular and scalable Path-Planning Module system architecture and its implementation within the ROS2 framework, designed for autonomous marine surface vessels. The system operates in three stages: (1) cost map generation from Op…

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

IFAC-PapersOnLine Vol. 59, Br. 22, str. 195–200

16th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles 2025

DOI10.1016/j.ifacol.2025.11.631 eISSN2405-8963 pISSN2405-8971

CoE MARBLE

ROS2 architecture path planningcost map D* Litepath interpolationautonomy

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Conference presentation Open access

Design and Development of a Boat-Mountable Sensor Rack for Maritime Perception and Data Acquisition

Obradović, Juraj Fabijanić, Matej Lovrić, Josip Kapetanović, Nadir Nađ, Đula Ferreira, Fausto Miguel Pascoal Mišković, Nikola

2025

Accurate information about objects in the maritime environment is essential for the development of reliable navigation systems for autonomous surface vehicles. To provide such information, advanced deep learning models are typically employed, which d…

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

16th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles 2025

DOI10.1016/j.ifacol.2025.11.640

CoE MARBLE

Sensor Rack Situational Awareness Maritime Environment LiDAR Camera IMU AIS GNSS

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Contribution in a journal Open access

Heterogeneous Multirobot Team: Maritime Inspection and Intervention in Global Navigation Satellite System-Denied Scenarios

Arbanas Pascoal Ferreira, Barbara Ivanović, Antun Peti, Marijana Mandić, Luka Batoš, Matko Domislović, Jakob Vasiljević, Goran Obradović, Juraj Ferreira, Fausto Miguel Pascoal Petric, Frano Barišić, Antonella Car, Marko Goričanec, Jurica Kraševac, Natko Križmančić, Marko Lončar, Ivan Marković, Lovro Milijaš, Robert Stuhne, Dario Orsag, Matko Bogdan, Stjepan Mišković, Nikola

2025

Autonomous robotic systems play an increasingly important role in overcoming complex maritime challenges, where the environment requires high adaptability, robustness, and precision. Marsupial robotic systems, combining aerial systems and surface ves…

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

IEEE robotics & automation magazine Vol. 33, Br. 1, str. 2–19

DOI10.1109/mra.2025.3639792 eISSN1558-223X pISSN1070-9932

CoE MARBLE

Autonomous aerial vehicles Robots Navigation Robot kinematics Robot sensing systems Hardware Location awareness Batteries Object detection Laser radar

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Conference paper Open access

Towards Real-Time Computer Vision for Cable Angle Estimation in Subsea Laying Operations

Fabijanić, Matej Eškinja, Zdravko Ferreira, Fausto Miguel Pascoal

2025

Subsea cable laying operations are critical for global communication and energy transmission, directly impacting daily life. This research contributes to these operations by providing a method to log the α angle, which represents the cable’s descent …

Centre of Excellence MARBLE limited liability company for research and development

University of Zagreb University of Zagreb, Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering

Proceedings of 2025 IEEE International Workshop on Metrology for the Sea; Learning to Measure Sea Health Parameters (MetroSea)

IEEE International Workshop on Metrology for the Sea 2025

DOI10.1109/metrosea66681.2025.11245726 ISBN979-8-3315-7484-0

CoE MARBLE

subsea cable laying YOLO OCR automated angle logging machine learning

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