Monocular Visual-Based State Estimator for Online Navigation in Complex and Unstructured Underwater Environments.

Riccardo Costanzi https://orcid.org/0000-0001-8600-1976

Francesco Ruscio Simone Tani Andrea Caiti Riccardo Costanzi Monocular Visual-Based State Estimator for Online Navigation in Complex and Unstructured Underwater Environments. 353-375 2026 January 43 J. Field Robotics 1 https://doi.org/10.1002/rob.70032 db/journals/jfr/jfr43.html#RuscioTCC26 streams/journals/jfr

Simone Tani Francesco Ruscio Andrea Caiti Riccardo Costanzi Visual-Acoustic-Based Framework for Online Inspection of Submerged Structures Using Autonomous Underwater Vehicles. 1152-1177 2026 March 43 J. Field Robotics 2 https://doi.org/10.1002/rob.70075 db/journals/jfr/jfr43.html#TaniRCC26 streams/journals/jfr

Olga Sambataro Riccardo Costanzi João Alves 0002 Andrea Caiti Pietro Paglierani Roberto Petroccia Andrea Munafò Current Trends and Advances in Quantum Navigation for Maritime Applications: A Comprehensive Review. 2023 abs/2310.04729 CoRR https://doi.org/10.48550/arXiv.2310.04729 db/journals/corr/corr2310.html#abs-2310-04729

Matteo Bresciani Giovanni Peralta Francesco Ruscio Lorenzo Bazzarello Andrea Caiti Riccardo Costanzi Cooperative ASV/AUV system exploiting active acoustic localization. 4337-4342 2021 IROS https://doi.org/10.1109/IROS51168.2021.9636326 conf/iros/2021 db/conf/iros/iros2021.html#BrescianiPRBCC21

Riccardo Costanzi Davide Fenucci Vincenzo Manzari Michele Micheli Luca Morlando Daniele Terracciano Andrea Caiti Mirko Stifani Alessandra Tesei Interoperability Among Unmanned Maritime Vehicles: Review and First In-field Experimentation. 91 2020 7 Frontiers Robotics AI https://doi.org/10.3389/frobt.2020.00091 db/journals/firai/firai7.html#CostanziFMMMTCS20

Riccardo Costanzi Davide Fenucci Vincenzo Manzari Andrea Caiti Roberto Petroccia Towards an autonomous underwater vehicles test range: At-sea experimentation of bearing-only tracking algorithms. 304-314 2018 46 Annu. Rev. Control. https://doi.org/10.1016/j.arcontrol.2018.10.007 db/journals/arc/arc46.html#CostanziFMCP18

Sandro Bartolini Alessandro Mecocci Alessandro Pozzebon Claudia Zoppetti Duccio Bertoni Giovanni Sarti Andrea Caiti Riccardo Costanzi Filippo Catani Andrea Ciampalini Sandro Moretti Augmented Virtuality for Coastal Management: A Holistic Use of In Situ and Remote Sensing for Large Scale Definition of Coastal Dynamics. 2018 7 ISPRS Int. J. Geo Inf. 3 https://doi.org/10.3390/ijgi7030092 db/journals/ijgi/ijgi7.html#BartoliniMPZBSC18 92

Roberto Conti Francesco Fanelli 0001 Enrico Meli Alessandro Ridolfi Riccardo Costanzi A free floating manipulation strategy for Autonomous Underwater Vehicles. 133-146 2017 87 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2016.09.018 db/journals/ras/ras87.html#ContiFMRC17

Benedetto Allotta Andrea Caiti Riccardo Costanzi Francesco Di Corato Davide Fenucci Niccolò Monni Luca Pugi Alessandro Ridolfi Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles. 1229-1244 2016 40 Auton. Robots 7 https://doi.org/10.1007/s10514-016-9594-9 db/journals/arobots/arobots40.html#AllottaCCCFMPR16

Benedetto Allotta Riccardo Costanzi Francesco Fanelli 0001 Niccolò Monni Alessandro Ridolfi Underwater Vehicles attitude estimation in presence of magnetic disturbances. 2612-2617 2016 ICRA https://doi.org/10.1109/ICRA.2016.7487419 conf/icra/2016 db/conf/icra/icra2016.html#AllottaCFMR16

Benedetto Allotta Fabio Bartolini Andrea Caiti Riccardo Costanzi Francesco Di Corato Davide Fenucci Jonathan Gelli Piero Guerrini Niccolò Monni Andrea Munafò Marco Natalini Luca Pugi Alessandro Ridolfi John R. Potter Typhoon at CommsNet13: Experimental experience on AUV navigation and localization. 157-171 2015 40 Annu. Rev. Control. https://doi.org/10.1016/j.arcontrol.2015.09.010 db/journals/arc/arc40.html#AllottaBCCCFGGM15

Benedetto Allotta Riccardo Costanzi Massimo Magrini Niccolò Monni Davide Moroni Maria Antonietta Pascali Marco Reggiannini Alessandro Ridolfi Ovidio Salvetti Marco Tampucci Towards a Robust System Helping Underwater Archaeologists Through the Acquisition of Geo-referenced Optical and Acoustic Data. 253-262 2015 ICVS https://doi.org/10.1007/978-3-319-20904-3_24 conf/icvs/2015 db/conf/icvs/icvs2015.html#AllottaCMMMPRRS15

Benedetto Allotta Riccardo Costanzi Enrico Meli Luca Pugi Alessandro Ridolfi Gregorio Vettori Cooperative localization of a team of AUVs by a tetrahedral configuration. 1228-1237 2014 62 Robotics Auton. Syst. 8 https://doi.org/10.1016/j.robot.2014.03.004 db/journals/ras/ras62.html#AllottaCMPRV14

Andrea Caiti Vincenzo Calabrò Francesco Di Corato Tommaso Fabbri Davide Fenucci Andrea Munafò Benedetto Allotta Fabio Bartolini Riccardo Costanzi Jonathan Gelli Niccolò Monni Marco Natalini Luca Pugi Alessandro Ridolfi Thesaurus: AUV teams for archaeological search. Field results on acoustic communication and localization with the Typhoon. 857-863 2014 MED https://doi.org/10.1109/MED.2014.6961481 conf/med/2014 db/conf/med/med2014.html#CaitiCCFFMABCGM14 Benedetto Allotta Luca Pugi Alessandro Ridolfi Riccardo Costanzi Fabio Bartolini Niccolò Monni Marco Natalini Roberto Giusti An anti-capsize strategy for industrial vehicles: Preliminary testing on a scaled AGV. 1-5 2014 MESA https://doi.org/10.1109/MESA.2014.6935580 conf/mesa/2014 db/conf/mesa/mesa2014.html#AllottaPRCBMNG14 Benedetto Allotta Lorenzo Becciolini Riccardo Costanzi Francesca Giardi Alessandro Ridolfi Gregorio Vettori Design and implementation of dynamic simulators for the testing of inertial sensors. 5024-5029 2012 ICRA https://doi.org/10.1109/ICRA.2012.6224936 conf/icra/2012 db/conf/icra/icra2012.html#AllottaBCGRV12 Benedetto Allotta Luca Pugi Riccardo Costanzi Gregorio Vettori Localization algorithm for a fleet of three AUVs by INS, DVL and range measurements. 631-636 2011 ICAR https://doi.org/10.1109/ICAR.2011.6088608 conf/icar/2011 db/conf/icar/icar2011.html#AllottaPCV11 Benedetto Allotta João Alves 0002 Fabio Bartolini Sandro Bartolini Lorenzo Bazzarello Lorenzo Becciolini Duccio Bertoni Matteo Bresciani Andrea Caiti Vincenzo Calabrò Filippo Catani Andrea Ciampalini Roberto Conti Francesco Di Corato Tommaso Fabbri Francesco Fanelli 0001 Davide Fenucci Jonathan Gelli Francesca Giardi Roberto Giusti Piero Guerrini Massimo Magrini Vincenzo Manzari Alessandro Mecocci Enrico Meli Michele Micheli Niccolò Monni Sandro Moretti Luca Morlando Davide Moroni Andrea Munafò Marco Natalini Pietro Paglierani Maria Antonietta Pascali Giovanni Peralta Roberto Petroccia John R. Potter Alessandro Pozzebon Luca Pugi Marco Reggiannini Alessandro Ridolfi Francesco Ruscio Ovidio Salvetti Olga Sambataro Giovanni Sarti Mirko Stifani Marco Tampucci Simone Tani Daniele Terracciano Alessandra Tesei Gregorio Vettori Claudia Zoppetti