About me / Publications

My name is Héctor G. de Marina and I am a currently Assistant professor in the Unmanned Aerial Systems Center at the University of Southern Denmark in Odense. I focus my research on systems and control for multi-agent systems while I contribute to Paparazzi, the open-source autopilot. I wrote my PhD thesis in Distributed formation control algorithms for autonomous robots.

Me with one of my drones

You can find more about my research and CV in the following links: Google ScholarLinkedIn and Research Gate .

Why Dobratech? Well, I wanted to have a blog at the same time I wanted to post some tutorials since I like teaching. Ah, why the name you mean? During one trip in Croatia we learned that “enjoy your meal” is said “Dobar tek!”, and from there, Dobra means “good” in Polish, so… there we go, Dobratech :D.

Journal papers

[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. Control Systems and Technology, IEEE Transactions on. 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. Automatic Control, IEEE Transactions on.  63 (2), 449-462. 2018.

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

[J3] HG de Marina, M Cao, B Jayawardhana. Controlling Rigid Formations of Mobile Agents Under Inconsistent Measurements. Robotics, IEEE Transactions on 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. Industrial Electronics, IEEE Transactions on 59 (11), 4465-4474. 2012.

Conference Papers

[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 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+.

[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) 51405145. 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 vehiclesOCEANS 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 shipsIEEE International Conference on Computational Intelligence for Measurement Systems and Applications2010.

[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.


[W1] Asian Control Conference 2017. Invited speaker at Advances in distributed control and formation control systems.