CoE MARBLE

Contribution in a journal Open access

ShipEcho-An interactive tool for mapping underwater radiated noise from vessels

Shipton, Mark Denona, Valentino Nađ, Đula Diamant, Roee

2027

Underwater radiated noise from vessels (V-URN) is a recognized environmental stressor that negatively impacts marine ecosystems. Significant resources are invested in the development of V-URN monitoring indicators, regulatory frameworks, and manageme…

Centre of Excellence MARBLE limited liability company for research and development

Ocean & coastal management Vol. 283, str. 108386–108418

DOI10.1016/j.ocecoaman.2026.108386 eISSN1873-524X pISSN0964-5691

CoE MARBLE

Underwater radiated noise Vessel noise mapping Automatic Identification System Geographic Information System Sound exposure level Marine spatial management

View details Open

Contribution in a journal Open access

Position-Based Visual Servoing With a Marsupial Robotic System

Domislović, Jakob Milijaš, Robert Ivanović, Antun Car, Marko Orsag, Matko Bogdan, Stjepan

2026-06-25

This paper presents a position-based visual servoing framework for guiding aerial robots in object pickup tasks in maritime environments without Global Navigation Satellite System availability. To address the limited battery life and payload capacity…

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 access Vol. 14, str. 99210–99226

DOI10.1109/access.2026.3707289 eISSN2169-3536

CoE MARBLE

Autonomous aerial vehicles collaborative robots convolutional neural networks field robots intelligent robots object detection pose estimation robot control robot vision systems visual servoing

View details Open

Contribution in a journal Open access

Fusion of LiDAR and AIS data for improved maritime object detection

Obradović, Juraj Možnik, Dorian Mišković, Nikola

2026

Maritime autonomous systems require robust perception to address the high rate of human-error-caused accidents in the maritime domain. We present a hybrid detection framework combining YOLO11-based neural network detection on bird's-eye-view LiDAR pr…

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. 175

DOI10.1016/j.conengprac.2026.107100 eISSN1873-6939 pISSN0967-0661

CoE MARBLE

Maritime robotics Object detection Sensor fusion LiDAR perception LIDAR-AIS fusion

View details Open

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

View details Open

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

View details Open

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

View details Open

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

View details Open

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)

View details Open

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

View details Open

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

View details Open

CoE MARBLE

Recently added