The BugWright2 project

Autonomous Robotic Inspection and Maintenance on Ship Hulls

Blueye Robotics

Publications

Here is the history of the BugWright2 publications (conference proceedings, workshops, articles in journals, chapters in books, webinars, etc.)

2023 [RP3]

Ellwart, T., & Schauffel, N. (in press). Human-autonomy teaming in ship inspection. Psychological perspectives on the collaboration between humans and self-governing systems. In Autonomous Vessel in Maritime Affairs: Law & Governance Implications (Vol. 1). Palgrave Macmillan.

2022 [RP3]

A. Fornasier, Y. Ng, C. Brommer, C. Böhm, R. Mahony and S. Weiss, Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration, in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 12118-12125, Oct. 2022, doi: 10.1109/LRA.2022.3210867.
M. Scheiber et al., CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications, in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11283-11290, Oct. 2022, doi: 10.1109/LRA.2022.3196117
P. Grippa, A. Renzaglia, A. Rochebois, M. Schranz and O. Simonin, Inspection of Ship Hulls with Multiple UAVs: Exploiting Prior Information for Online Path Planning, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 13777-13784, doi: 10.1109/IROS47612.2022.9981357.
A. Cardaillac and M. Ludvigsen, Marine Snow Detection for Real Time Feature Detection, 2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), Singapore, 2022, pp. 1-6, doi: 10.1109/AUV53081.2022.9965895.

2022 [RP2]

A. Cardaillac and M. Ludvigsen, A communication interface for multilayer cloud computing architecture for low-cost underwater vehicles, IFAC-PapersOnLine, vol. 55, no. 14, pp. 77–82, 2022, 11th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2022.
Christoph Böhm, Martin Scheiber, Stephan Weiss. Filter-Based Online System-Parameter Estimation for Multicopter UAVs. International Conference on Robots: Science and Systems, 2021 doi:10.15607/rss.2021.xvii.087.
Alessandro Fornasier, Yonhon Ng, Robert Mahony, Stephan Weiss. Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. International Conference on Robotics and Automation, 2022. doi: 10.1109/ICRA46639.2022.9811778.
Roland Jung, Stephan Weiss. Scalable and Modular Ultra-Wideband Aided Inertial Navigation IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 accepted.
Martin Scheiber, Alessandro Fornasier, Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, Christian Brommer. Flight Stack for Reproducible and Customizable Autonomy Applications in Research and Industry IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 accepted.
Eren Allak, Axel Barrau, Jan Steinbrener, Stephan Weiss. Centralized-Equivalent Pairwise Estimation with Asynchronous Communication Constraints for two Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 accepted.
Schauffel, N., Gründling, J. Ewerz, B., Weyers, B., & Ellwart, T. (2022). Human-Robot Teams. Spotlight on Psychological Acceptance Factors exemplified within the BUGWRIGHT2 Project. PsychArchives. http://dx.doi.org/10.23668/psycharchives.5584
Ellwart, T., Schauffel, N. (shared first author), Antoni, C. H., & Timm, I. J. (2022). I vs. robot: Sociodigital self-comparisons in hybrid teams from a theoretical, empirical, and practical perspective. Gruppe. Interaktion. Organisation. Zeitschrift für Angewandte Organisationspsychologie (GIO). https://doi.org/10.1007/s11612-022-00638-5
Aspasia Pastra, Nathalie Schauffel, Thomas Ellwart & Tafsir Johansson (2022). Building a trust ecosystem for remote inspection technologies in ship hull inspections, Law, Innovation and Technology, DOI: 10.1080/17579961.2022.2113666
A. Pastra, T. Johansson, Towards a Harmonized Framework for Vessel Inspection via Remote Techniques, Proceedings of the 32nd European Safety and Reliability Conference (ESREL 2022), 28th August – 1st September 2022, Dublin, Ireland. Doi: 10.3850/978-981-18-5183-4_J03-07-636-cd.
Othmane-Latif Ouabi, Pascal Pomarede, Nico F. Declercq, Neil Zeghidour, Matthieu Geist, Cédric Pradalier, “Learning the propagation properties of rectangular metal plates for Lamb wave-based mapping“, Ultrasonics, Volume 123, 2022, 106705, ISSN 0041-624X, https://doi.org/10.1016/j.ultras.2022.106705.
O. -L. Ouabi et al., “Combined Grid and Feature-based Mapping of Metal Structures with Ultrasonic Guided Waves,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 5056-5062, doi: 10.1109/ICRA46639.2022.9811581.
Emilio GARCIA-FIDALGO, Joan P. COMPANY-CORCOLES, Francisco BONNIN-PASCUAL, Alberto ORTIZ. “LiODOM: Adaptive Local Mapping for Robust LiDAR-Only Odometry”, Robotics and Autonomous Systems (in press)
Kai Yao, Alberto Ortiz, Francisco Bonnin-Pascual, A DCNN-based arbitrarily-oriented object detector with application to quality control and inspection, Computers in Industry, Volume 142, 2022, 103737, ISSN 0166-3615, https://doi.org/10.1016/j.compind.2022.103737.
Derrig, R. (2022). Inspecting Ships Autonomously under Port State Jurisdiction: Towards Sustainability and Biodiversity in the EU, The International Journal of Marine and Coastal Law (published online ahead of print 2022). doi: https://doi.org/10.1163/15718085-bja10097
Chahine, G.; Schroepfer, P.; Ouabi, O.-L.; Pradalier, C. A Magnetic Crawler System for Autonomous Long-Range Inspection and Maintenance on Large Structures. Sensors 2022, 22, 3235. https://doi.org/10.3390/s22093235
J. P. Company-Corcoles, E. Garcia-Fidalgo and A. Ortiz, “MSC-VO: Exploiting Manhattan and Structural Constraints for Visual Odometry,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2803-2810, April 2022, doi: 10.1109/LRA.2022.3142900.
Company-Corcoles, J.P., Garcia-Fidalgo, E. & Ortiz, A. Appearance-based loop closure detection combining lines and learned points for low-textured environments. Auton Robot 46, 451–467 (2022). https://doi.org/10.1007/s10514-021-10032-7

Other:

Johansson, T. and Pastra, A. Deployment of Remote Inspection Techniques Maintaining Dynamic Governance: Umbrella Regulation or Self-Regulation? 7th International Conference on Ocean Law and Policy; Interdisciplinary Policy and Law on Artificial Intelligence in Maritime Affairs, National Taiwan Ocean University (14 October 2022)
Johansson, T. Reconnoitring Techno-regulatory Dimensions of the Human Environment in Maritime Robotics & Autonomous Systems, IMO-WMU Conference, October 2022; Protecting the Ocean – Moving Forward at 50: London Convention and Stockholm Declaration
M. Scheiber, A. Cardaillac, C. Brommer, S. Weiss, and M. Ludvigsen, Modular multi-sensor fusion for underwater localization for autonomous rov operations, in OCEANS 2022: Hampton Roads, 2022, pp. 1–5.
Serra Perello, Miquel (2021), Detección de bio-incrustaciones en cascos de barcos mediante redes convolucionales, (Ms) Màster en Sistemes Intelligents, University of the Balearic Islands.
Yao, Kai (2022), “Novel deep learning-based indentification methods for accurate, orientation-aware visual detection with application to inspection and quality control”, (PhD) Doctoral Programme in Information and Communications Technology, University of the Balearic Islands.
Johansson, T., “Law of the Sea and Class Techno-regulatory Dynamic Governance”, 45^th Annual Conference on Oceans Law and Policy: UNCLOS at 40, 17 March 2022.
Johansson, T., “Trust Ecosystem and Dynamic Governance in Vessel Class Survey”, Presentation at InterAct Kick-off Workshop, University of Copenhagen, 4 march 2022.

2021 [RP2]

Vera Alexandropoulou, Tafsir Johansson, Klimanthia Kontaxaki, Aspasia Pastra & Dimitrios Dalaklis (2021) Maritime remote inspection technology in hull survey & inspection: A synopsis of liability issues from a European Union context, Journal of International Maritime Safety, Environmental Affairs, and Shipping, 5:4, 184-195, DOI: 10.1080/25725084.2021.2006463
Xiao Peng, Christine Solnon, Olivier Simonin. Solving the Non-Crossing MAPF with CP. CP 2021 – 27th International Conference on Principles and Practice of Constraint Programming, Oct 2021, Montpellier (on line), France. pp.1-17, ⟨10.4230/LIPIcs.CP.2021.20⟩. ⟨hal-03320987⟩
R. Jung and S. Weiss, “Modular Multi-Sensor Fusion: A Collaborative State Estimation Perspective,” in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6891-6898, Oct. 2021, doi: 10.1109/LRA.2021.3096165.
M. Scheiber, J. Delaune, S. Weiss and R. Brockers, “Mid-Air Range-Visual-Inertial Estimator Initialization for Micro Air Vehicles,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7613-7619, doi: 10.1109/ICRA48506.2021.9560913.
A. Fornasier, M. Scheiber, A. Hardt-Stremayr, R. Jung and S. Weiss, “VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 13754-13760, doi: 10.1109/ICRA48506.2021.9561382.
B. Starbuck, A. Fornasier, S. Weiss and C. Pradalier, “Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 10250-10256, doi: 10.1109/ICRA48506.2021.9561837.
P. Ladinig, B. Rinner and S. Weiss, “Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 7400-7406, doi: 10.1109/ICRA48506.2021.9561702.
R. Jung and S. Weiss, “Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 1896-1902, doi: 10.1109/ICRA48506.2021.9561203.
J. Blueml, A. Fornasier and S. Weiss, “Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 5490-5496, doi: 10.1109/ICRA48506.2021.9561455.
Alberto Ortiz, Esaú Ortiz, Juan José Miñana, & Óscar Valero. (2021, June 16). Hypothesis Scoring and Model Refinement Strategies for FM-based RANSAC. Spanish Congress on Fuzzy Logic and Technologies (ESTYLF), Malaga (Spain). https://doi.org/10.5281/zenodo.4964749
Juan José Miñana, Alberto Ortiz, Esaú Ortiz, & Óscar Valero. (2021, June 16). On the standard fuzzy metric: generalizations and application to model estimation. Spanish Congress on Fuzzy Logic and Technologies (ESTYLF), Malaga (Spain). https://doi.org/10.5281/zenodo.4964783
Ellwart, T., & Schauffel, N. (2021). Humans, software agents, and robots in hybrid teams. Effects on work, safety, and health. PsychArchives.
Tafsir Matin JOHANSSON, Dimitrios DALAKLIS, Aspasia PASTRA, “Maritime Robotics and Autonomous Systems Operations: Exploring Pathways for Overcoming International Techno-Regulatory Data Barriers” Journal of Marine Science and Engineering (JMSE) 2021, 9(6), 594.
Kai YAO, Alberto ORTIZ, Francisco BONNIN-PASCUAL, “A Weakly-Supervised Semantic Segmentation Approach based on the Centroid Loss: Application to Quality Control and Inspection” IEEE Access, vol. 9, pp. 69010 – 69026, 2021. doi: 10.1109/ACCESS.2021.3077847.
Alberto Ortiz, Esaú Ortiz, Juan José Miñana, & Óscar Valero, “Hypothesis Scoring and Model Refinement Strategies for FM-based RANSAC“. Presented at the Spanish Congress on Fuzzy Logic and Technologies (ESTYLF), Malaga, Spain, 2021.
Juan José Miñana, Alberto Ortiz, Esaú Ortiz, & Óscar Valero, “On the standard fuzzy metric: generalizations and application to model estimation”. Presented at the Spanish Congress on Fuzzy Logic and Technologies (ESTYLF), Malaga, Spain, 2021.
O. -L. Ouabi, P. Pomarede, M. Geist, N. F. Declercq and C. Pradalier, “A FastSLAM Approach Integrating Beamforming Maps for Ultrasound-Based Robotic Inspection of Metal Structures”, in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2908-2913, April 2021, doi: 10.1109/LRA.2021.3062600.
González-Hedström J-D-D, Miñana J-J, Valero O. Aggregation of Indistinguishability Fuzzy Relations Revisited. Mathematics. 2021; 9(12):1441. https://doi.org/10.3390/math9121441
Bonnin-Pascual F, Garcia-Fidalgo E, Company-Corcoles JP, Ortiz A. MUSSOL: A Micro-Uas to Survey Ship Cargo hOLds. Remote Sensing. 2021; 13(17):3419. https://doi.org/10.3390/rs13173419

Other:

A. Cardaillac, M. Ludvigsen, Ruled path planning framework for safe and dynamic navigation, in OCEANS 2021 San Diego – Porto, 2021, pp. 1–7.
Johansson, T. (2021) “International-arrangements Analysis”, World Maritime University (WMU)-International Maritime Organization (IMO) Webinar Series: EU Horizon 2020 BUGWRIGHT2: Overcoming Regulatory Barriers for Service Robotics in an Ocean Industry Context
Pastra, A. (2021) “National Comparative Analysis”, World Maritime University (WMU)-International Maritime Organization (IMO) Webinar Series: EU Horizon 2020 BUGWRIGHT2: Overcoming Regulatory Barriers for Service Robotics in an Ocean Industry Context.
Derrig, R. (2021) “European Union Analysis: Regulating to Use New Technology for Better Shipping”, World Maritime University (WMU)-International Maritime Organization (IMO) Webinar Series: EU Horizon 2020 BUGWRIGHT2: Overcoming Regulatory Barriers for Service Robotics in an Ocean Industry Context
Johansson, T., “Overcoming International Regulatory Barriers for Remote Inspection Technology in an Ocean Industry Context”, 2021 Global Ocean Regime Conference: Technological Innovation and the Role of the Law of the Sea, Organized by the Ministry of Oceans and Fisheries & Korea Maritime institute
Johansson, T. and Pastra, A. “Remote Inspection Technologies and the Human Element”, World Maritime Day 2021 (30 September): Seafarers at the Core of Shipping’s Future, Hellenic Marine Environment Protection Association.
T. Johansson; D. Dalaklis; T. Klenum and A. Pastra. “Addressing Uncertainties in RAS Integration for Ships’ Hull Inspection and Maintenance: Through the Prism of International Environmental Law”, EELF Annual Conference 2021, 8-10 September 2021.

2021 [RP1]

Alberto Ortiz, Esaú Ortiz, Juan José Miñana, & Óscar Valero, “On the Use of Fuzzy Metrics for Robust Model Estimation: a RANSAC-based Approach”. Presented at the International Work-Conference on Artificial Neural Networks (IWANN), 2021, online conference.
Ouabi OL., Pomarede P., Geist M., Declercq N.F., Pradalier C. (2021) Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided Waves. In: Siciliano B., Laschi C., Khatib O. (eds) Experimental Robotics. ISER 2020. Springer Proceedings in Advanced Robotics, vol 19. Springer, Cham. https://doi.org/10.1007/978-3-030-71151-1_31
Bibiloni-Femenias M-d-M, Guerrero J, Miñana J-J, Valero O. Indistinguishability Operators via Yager t-norms and Their Applications to Swarm Multi-Agent Task Allocation. Mathematics. 2021; 9(2):190. https://doi.org/10.3390/math9020190

2020 [RP1]

E. Allak, A. Fornasier and S. Weiss, “Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 4834-4841, doi: 10.1109/IROS45743.2020.9340833.
C. Pradalier, O. -L. Ouabi, P. Pomarede and J. Steckel, “On-plate localization and mapping for an inspection robot using ultrasonic guided waves: a proof of concept,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 5045-5050, doi: 10.1109/IROS45743.2020.9340936.
Stéphane D’Alu, Oana Iova, Olivier Simonin, and Hervé Rivano. 2020. Demo: In-flight Localisation of Micro-UAVs using Ultra-Wide Band. In Proceedings of the 2020 International Conference on Embedded Wireless Systems and Networks on Proceedings of the 2020 International Conference on Embedded Wireless Systems and Networks (EWSN ’20). Junction Publishing, USA, 186–188.
Alberto ORTIZ, Javier ANTICH, Francisco BONNIN-PASCUAL, “Navigation for Inspection”, Encyclopedia of Robotics, pp 1-16, Springer, 2020.
Miñana, JJ., Valero, O. On Matthews’ Relationship Between Quasi-Metrics and Partial Metrics: An Aggregation Perspective. Results Math 75, 47 (2020)
Joan P. COMPANY, Emilio GARCIA-FIDALGO, Alberto ORTIZ, “LiPo-LCD: Combining Lines and Points for Appearance-based Loop Closure Detection”, British Machine Vision Conference (BMVC), Manchester, United-Kingdom, 7 – 10 September 2020.
Joan P. COMPANY, Emilio GARCIA-FIDALGO, Alberto ORTIZ, “Towards Robust Loop Closure Detection in Weakly Textured Environments using Points and Lines”, IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Vienna, Austria, 8 – 11 September 2020.
Kai YAO, Alberto ORTIZ, Francisco BONNIN-PASCUAL, “Centroid Loss for Weakly-Supervised Semantic Segmentation in a Quality-Control Application”, IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Vienna, Austria, 8 – 11 September 2020.
Emilio GARCIA-FIDALGO, Francisco BONNIN-PASCUAL, Joan P. COMPANY-CORCOLES, Alberto ORTIZ, “Evaluation of a Skill-based Control Architecture for a Visual Inspection-oriented Aerial Platform”, Workshop on Robot-based inspection systems and post-processing tools at IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Vienna, Austria, 8 – 11 September 2020.
Francisco BONNIN-PASCUAL, Alberto ORTIZ, “UWB-based self-localization strategies: an ICP-based novel method and a comparative assessment for noisy ranges-prone environments”, Sensors, 20(19), article nr. 5613, 2020.
Gregori V, Miñana J-J, Roig B, Sapena A. A Characterization of Strong Completeness in Fuzzy Metric Spaces. Mathematics. 2020; 8(6):861. https://doi.org/10.3390/math8060861
Thomas Ellwart. Mensch, Softwareagenten und Roboter in hybriden Teams: Auswirkungen auf Arbeit, Sicherheit und Gesundheit. In R. Trimpop, A. Fischbach, I. Seliger, A. Lynnyk, N. Kleineidam, & A. Große-Jäger (Eds.), 21. Workshop Psychologie der Arbeitssicherheit: Gewalt in der Arbeit verhüten und die Zukunft gesundheitsförderlich gestalten! (pp. 25–40) 2020, Asanger Verlag.
Stéphane d’Alu, Oana Iova, Olivier Simonin, Hervé Rivano. Demo: In-flight Localisation of Micro-UAVs using Ultra-Wide Band. EWSN 2020 – International Conference on Embedded Wireless Systems and Networks, Feb 2020, Lyon, France. ⟨hal-02421783⟩

Other:

Kai YAO, Alberto ORTIZ, Francisco BONNIN-PASCUAL, “Deep Learning-based Object Detection for a Quality Control Application in the Sterilization Unit of a Hospital”, Jornadas IDISBA (Annual Workshop of the Health Research Institute of the Balearic Islands), Palma de Mallorca, Spain, 26 November 2020.

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grand agreement No 871260.

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