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Selected Publications

My full Curriculum Vitae can be found here (in Portuguese, maintained by CNPq). My ORCid can be found here.

2025

DOI icon BARROS, T., REIS, C., CONSTANTINOPOLOS, H., MAFFEI, R. Q., PRESTES, E. • Managing Safety and Ethical Norm Violations in Robotic Industrial Cells: An Ontological System Based on the IEEE 7007-2021 Standard. • IEEE Robotics & Automation Magazine, v. 32, Issue 4, p. 25-33, 2025.

DOS SANTOS, L.,, TORRESEN, J., KOLBERG, M., MAFFEI, R. Q. • An autonomous floor clearing strategy to tidy up unknown home environments with a mobile manipulator robot. • Accepted in: 2025 IEEE 22nd International Conference on Advanced Robotics (ICAR), San Juan, Argentina, 2025.

CONSTANTINOPOLOS, H., BARROS, T., REIS, C., MAFFEI, R. Q., PRESTES, E., MACHADO, P. A. B • Ethically-Aligned Safety Monitoring in CNC Machining via Ontological Modeling. • Accepted in: 2025 IEEE 22nd International Conference on Advanced Robotics (ICAR), San Juan, Argentina, 2025.

DOS SANTOS, L.,, INDEQUE, U., RACHE, R. M., MANTELLI, M., PRESTES, E. KOLBERG, M., MAFFEI, R. Q. • Elastic Formation Control for Robot Swarms Using Dynamic Boundary-Based Potential Fields • Accepted in: 2025 IEEE 22nd International Conference on Advanced Robotics (ICAR), San Juan, Argentina, 2025.

DOI icon LØMO, T., TORRESEN, J., KOLBERG, M., MAFFEI, R. Q. • Multi Map Visual Localization for Unmanned Aerial Vehicles. • IEEE Robotics and Automation Letters, v. 10, p. 1353-1360, 2025.

DOI icon LOPES, C., MAFFEI, R. Q., KOLBERG, M. • Monocular Depth Estimation Applied to Global Localization Over 2D Floor Plans Using Free Space Density • Journal of Intelligent & Robotic Systems, v.111, p.4, 2025.

2024

DOI icon DAUDT, G., DEUS, A., KOLBERG, M., MAFFEI, R. Q. • k-Robust Conflict-Based Search with Continuous time for Multi-robot Coordination • 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE. 2024

2023

DOI icon DEUS, A., DAUDT, G., MAFFEI, R. Q., KOLBERG, M. • Mapping Crowd-based Dynamic Blockages for Navigation in Indoor Environments • 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand, 2023.

DOI icon STEIN, G., PITTOL, D., MANTELLI, M., KOLBERG, M., PRESTES, E. MAFFEI, R. Q. • Using buildings proximity information in UAV global localization over satellite images • 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand, 2023.

2022

DOI icon MANTELLI, M., NOORI, F., PITTOL, D., MAFFEI, R. Q., TORRESEN, J., KOLBERG, M. • Semantic Temporal Object Search System Based on Heat Maps. • Journal of Intelligent & Robotic Systems, v.106, p.69 - , 2022.

DOI icon PITTOL, D., MANTELLI, M., MAFFEI, R. Q., KOLBERG, M., PRESTES, E. • Loop-Aware Exploration Graph: A concise representation of environments for exploration and active loop-closure. • Robotics and Autonomous Systems, v.155, p.104-179, 2022.

DOI icon MANTELLI, M., DOS SANTOS, L.,, FRAGA, L., MIOTTO, G., BERGAMIN, A., CARDOSO, E., SERRANO, M., MAFFEI, R. Q., PRESTES, E. NETTO, J., KOLBERG, M. • Autonomous Environment Disinfection Based on Dynamic UV-C Irradiation Map. • IEEE Robotics and Automation Letters, v.7, p.4789 - 4796, 2022.

2021

DOI icon HOSSEINPOOR, S., TORRESEN, J., MANTELLI, M., PITTOL, D., KOLBERG, M., MAFFEI, R. Q., PRESTES, E. • Traversability Analysis by Semantic Terrain Segmentation for Mobile Robots • 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, Lyon.

DOI icon NEULAND, R., RODRIGUES, F., PITTOL, D., JAULIN, L., MAFFEI, R. Q., KOLBERG, M., PRESTES, E. • Interval Inspired Approach Based on Temporal Sequence Constraints to Place Recognition • Journal of Intelligent & Robotic Systems, vol. 102, iss. 1, 2021.

DOI icon MANTELLI, M., MAFFEI, R. Q., TORRESEN, J., PRESTES, E., KOLBERG, M. • Semantic Active Visual Search System Based on Text Information for Large and Unknown Environments • Journal of Intelligent & Robotic Systems, Vol 101, Jan 2021.

DOI icon NEULAND, R., MANTELLI, M., HUMMES, B., JAULIN, L., MAFFEI, R. Q., PRESTES, E., KOLBERG, M. • Robust Hybrid Interval-Probabilistic Approach for the Kidnapped Robot Problem • International Journal of Uncertainty Fuzziness and Knowledge-based Systems, v. 29, p. 313-331, 2021.

2020

DOI icon PDF icon MAFFEI, R. Q., PITTOL, D., MANTELLI, M., PRESTES, E., KOLBERG, M. • Global Localization Over 2D Floor Plans with Free-Space Density Based on Depth Information • 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA. 2020.

DOI icon PDF icon MAFFEI, R. Q., SOUZA, M. P., MANTELLI, M., PITTOL, D., KOLBERG, M., JORGE, V. A. M. • Exploration of 3D Terrains Using Potential Fields with Elevation-Based Local Distortions • 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France. 2020.

DOI icon RODRIGUES, F., NEULAND, R., MANTELLI, M., PITTOL, D., MAFFEI, R. Q., PRESTES, E., KOLBERG, M. • Three level sequence-based Loop Closure Detection • Robotics and Autonomous Systems, Vol 133, Nov 2020.

DOI icon PITTOL, D., MANTELLI, M., MAFFEI, R. Q., KOLBERG, M., PRESTES, E. • Monocular 3D Exploration using Lines-of-Sight and Local Maps • Journal of Intelligent & Robotic Systems, v. 100, p. 465-481, 2020.

2019

DOI icon PDF icon PERDOMO, L., PITTOL, D., MANTELLI, M., MAFFEI, R. Q., KOLBERG, M., PRESTES, E. • c-M2DP: A Fast Point Cloud Descriptor with Color Information to Perform Loop Closure Detection • 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), Vancouver, Canada. 2019.

DOI icon PDF icon CONCHA, E. K. T., PITTOL, D., WESTHAUSER, R., KOLBERG, M., MAFFEI, R. Q., PRESTES, E. • Map Point Optimization in Keyframe-Based SLAM using Covisibility Graph and Information Fusion • 2019 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte, Brazil. 2019.

DOI icon MANTELLI, M., PITTOL, D., NEULAND, R., RIBACKI, A., MAFFEI, R. Q., JORGE, V. A. M., PRESTES, E., KOLBERG, M. • A novel measurement model based on abBRIEF for global localization of a UAV over satellite images • Robotics and Autonomous Systems, Volume 112, Feb 2019, Pages 304-319.

2018

DOI icon PDF icon RIBACKI, A., JORGE, V. A. M., MANTELLI, M., MAFFEI, R. Q., PRESTES, E. • Vision-based Global Localization using Ceiling Space Density • 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia. 2018.

2016

DOI icon PRESTES, E., MARQUES, L., NEULAND, R., MANTELLI, M., MAFFEI, R. Q., DOGRU, S., PRADO, J., MACEDO, J., MADHAVAN, R. • The 2016 Humanitarian Robotics and Automation Technology Challenge [Competitions] • IEEE Robotics & Automation Magazine, v. 23, p. 23-24, 2016.

DOI icon PDF icon MAFFEI, R. Q., JORGE, V. A. M., REY, V. F., KOLBERG, M., PRESTES, E. • Long-term place recognition using multi-level words of spatial densities • 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea. 2016.

2015

DOI icon MADHAVAN, R., MARQUES, L., PRESTES, E., MAFFEI, R. Q., JORGE, V. A. M., GIL, B., DOGRU, S., CABRITA, G., NEULAND, R., DASGUPTA, P. • 2015 Humanitarian Robotics and Automation Technology Challenge [Humanitarian Technology] • IEEE Robotics & Automation Magazine, v. 22, p. 182-184, 2015.

DOI icon MAFFEI, R. Q., JORGE, V. A. M., REY, V. F., FRANCO, G. S., GIAMBASTIANI, M. T., BARBOSA, J. D., KOLBERG, M., PRESTES, E. • Using n-grams of spatial densities to construct maps • 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany. 2015.

DOI icon MAFFEI, R. Q., JORGE, V. A. M., REY, V. F., KOLBERG, M., PRESTES, E. • Fast Monte Carlo Localization Using Spatial Density Information • 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA. 2015.

DOI icon JORGE, V. A. M., MAFFEI, R. Q., FRANCO, G. S., BARBOSA, J. D., GIAMBASTIANI, M. T., KOLBERG, M., PRESTES, E. • Ouroboros: using potential field in unexplored regions to close loops • 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA. 2015.

2014

DOI icon MAFFEI, R. Q., JORGE, V. A. M., PRESTES, E., KOLBERG, M. • Integrated exploration using time-based potential rails • 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong. 2014.

DOI icon MADHAVAN, R., MARQUES, L., PRESTES, E., DASGUPTA, P., CABRITA, G., PORTUGAL, D., GOUVEIA, B., JORGE, V. A. M., MAFFEI, R. Q., FRANCO, G. S., GARCIA, J. B. • 2014 Humanitarian Robotics and Automation Technology Challenge [Humanitarian Technology] • IEEE Robotics & Automation Magazine, v. 21, p. 10-16, 2014.

DOI icon NEULAND, R., MAFFEI, R. Q., JAULIN, L., PRESTES, E., KOLBERG, M. • Improving the Precision of AUVs Localization in a Hybrid Interval-Probabilistic Approach Using a Set-Inversion Strategy • Unmanned Systems, v. 02, p. 1-15, 2014.

DOI icon JORGE, V. A. M., REY, V. F., MAFFEI, R. Q., FIORINI, S., CARBONERA, J. L., BRANCHI, F., MEIRELES, J. P., FRANCO, G. S., FARINA, F., DA SILVA, T. S., KOLBERG, M., ABEL, M., PRESTES, E. • Exploring the IEEE ontology for robotics and automation for heterogeneous agent interaction • Robotics and Computer-Integrated Manufacturing, v. 33, p. 12-20, 2014.

DOI icon NEULAND, R., NICOLA, J., MAFFEI, R. Q., JAULIN, L., PRESTES, E., KOLBERG, M. • Hybridization of Monte Carlo and set-membership methods for the global localization of underwater robots • 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA. 2014.

2013

DOI icon MAFFEI, R. Q., JORGE, V. A. M., KOLBERG, M., PRESTES, E. • Segmented DP-SLAM • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan. 2013.

2012

DOI icon SILVEIRA, L., MAFFEI, R. Q., BOTELHO, S. S. C., DREWS JR., P. L., BICHO, A. L., DUARTE FILHO, N. L. • Space D* • Journal of the Brazilian Computer Society, Volume 18, Issue 4, November 2012.

2010

DOI icon DUARTE FILHO, N. L., BOTELHO, S. S. C., CARVALHO, J. T., MARCOS, P. B., MAFFEI, R. Q., REMOR, R. O., OLIVEIRA, R. R., HAX, V. A. • An immersive and collaborative visualization system for digital manufacturing • International Journal of Advanced Manufacturing Technology, Volume 50, October 2010.

2009

DOI icon DUARTE FILHO, N. L., BOTELHO, S. S. C., CARVALHO, J. T., MARCOS, P. B., MAFFEI, R. Q., OLIVEIRA, R. R., HAX, V. A. • An Automated Platform for Immersive and Collaborative Visualization of Industrial Models • 14th IEEE International Conference on Engineering of Complex Computer Systems (ICECCS), Potsdam, Germany, June 2009.

DOI icon DUARTE FILHO, N. L., BOTELHO, S. S. C., CARVALHO, J. T., MARCOS, P. B., MAFFEI, R. Q., REMOR, R. O., OLIVEIRA, R. R., HAX, V. A. • A Multi-Cave Visualization System for Digital Manufacturing • 13th IFAC Symposium on Information Control Problems in Manufacturing (INCOM), Moscow, Russia, June 2009.