• Development of a low-complexity 3PDP (3 Points Dubins Paths) algorithm and its exploitation in the Dubins Traveling Salesman Problem.
  • Implementation of a low-complexity 3PDP (3 Points Dubins Paths) on an Unmanned Aerial Vehicle. 
  • Development of a Navigation algorithm for marine vehicles based on dynamic model and visual odometry information exploiting a “stochastic cloning” framework. (ROBUST scenario)
  • Outlier Robust State Estimation Through Smoothing on a Sliding Window based on a Least Trimmed Squares (LTS) cost. 
  • Real time implementation (in ROS framework) of a Finite State Machine to manage missions for a team of cooperative underwater vehicles.
  • Experimental validation of a null-space based approach to range-only underwater steering and positioning in presence of currents