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Dr. Pedro Lourenço, currently head of the Guidance & Control section within the Flight Segment and Robotics unit of GMV, received the BSc and MSc degrees in Aerospace Engineering in 2010 and 2012, respectively, both from Instituto Superior Técnico (IST), Lisbon, Portugal, on the course of which he received the Merit Award. In 2019, he then received his Ph.D. degree (with distinction and honour) in Electrical and Computer Engineering from IST, while being a researcher with the Institute for Systems and Robotics. He was awarded the Best National Ph.D. Thesis in Robotics by the Portuguese Robotics Society for his dissertation on globally convergent simultaneous localization and mapping. In 2019, he joined the GNC division of the Flight Segment and Robotics business unit of GMV, Lisbon, Portugal as a control specialist. There Pedro has designed control systems for over 10 ESA-funded projects on space rendezvous, reusable transportation systems, interplanetary missions, telecommunication and telescope missions, and was project manager in two R&D projects on the use of convex optimization for space applications. Since 2022, he became Head of Guidance & Control Section and has lead R&D&I efforts towards the adoption of optimization-based guidance & control, with emphasis on the enhancement of the verification and validation process and robustification of algorithms. His research interests include optimization-based guidance & control, model predictive control, active estimation, with particular emphasis on spacecraft AOCS/GNC. He has published 8 journal and 14 conference papers. He has co-supervised 6 MSc students and is currently co-supervising 2 MSc and 1 PhD student.
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Identification

Personal identification

Full name
PEDRO ANTÓNIO DUARTE MARQUES LOURENÇO

Citation names

  • LOURENÇO, PEDRO
  • Pedro Lourenço

Author identifiers

Ciência ID
3219-B242-4A5B
ORCID iD
0000-0001-7647-5094
Google Scholar ID
wkQMwicAAAAJ
Researcher Id
AAI-2630-2020
Scopus Author Id
24758955200

Websites

  • plourenco.eu (Professional)

Knowledge fields

  • Engineering and Technology - Mechanical Engineering - Aerospace Engineering
  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Robotics and Automatic Control
  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Automation and Control Systems

Languages

Language Speaking Reading Writing Listening Peer-review
Portuguese (Mother tongue)
English Advanced (C1) Advanced (C1) Advanced (C1) Advanced (C1) Advanced (C1)
Spanish; Castilian Intermediate (B1) Intermediate (B1) Intermediate (B1) Intermediate (B1)
German Beginner (A1) Intermediate (B1) Intermediate (B1) Beginner (A1)
Education
Degree Classification
2013/01 - 2019/01/15
Concluded
 Engenharia Electrotécnica e de Computadores (Doutoramento)
Major in Sem especialidade
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Globally Convergent Simultaneous Localization and Mapping: Design Techniques, Analysis, and Implementation" (THESIS/DISSERTATION)
 Passed with distinction and honour
2010/09 - 2012/11/15
Concluded
 Engenharia Aeroespacial (Mestrado integrado)
Major in Avionics
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Analysis, Design and Implementation of an Integrated Simultaneous Localization and Mapping Algorithm" (THESIS/DISSERTATION)
 18
2007/09 - 2010
Concluded
 Ciências de Engenharia - Engenharia Aeroespacial (Licenciatura)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"-" (THESIS/DISSERTATION)
 17
Affiliation

Science

Category
Host institution 		Employer
2011/10 - 2018/06 Researcher (Research) Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
2012/11 - 2012/12 Visiting Researcher (Research) University of Macau, Macau SAR China
University of Macau Faculty of Science and Technology, Macau SAR China

Others

Category
Host institution 		Employer
2022/08 - Current Head of Guidance & Control Section GMVIS Skysoft, S.A., Portugal
GMVIS Skysoft, S.A., Portugal
2019/01 - 2022/07 GNC Engineer GMVIS Skysoft, S.A., Portugal
GMVIS Skysoft, S.A., Portugal
Projects

Grant

Designation Funders
2013 - 2017 PhD Grant SFRH / BD / 89337 / 2012
SFRH / BD / 89337 / 2012
PhD Student Fellow
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal

Universidade de Lisboa Instituto Superior Técnico, Portugal
Fundação para a Ciência e a Tecnologia
Concluded

Contract

Designation Funders
2022/10 - Current Guidance, Navigation and Control of In-Orbit Assembly of Large Antennas
4000138572/22/NL/AF
Technical development
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Ongoing
2022/02/11 - Current Fast Reconfiguration Technologies for Recurrent Space Transportation Flight
4000136974/21/NL/CRS
Technical development
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Ongoing
2022/02/01 - Current Verification and Validation of Real-Time Optimised Safety-Critical GNC SW Systems
4000136721/21/NL/CRSRS
Principal investigator
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Ongoing
2021/11/01 - Current Fault tolerant control of clustered rocket engines
4000136228/21/NL/CRS
Technical development
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Ongoing
2019/11 - 2021/06 Prototyping of Bearings-Only Guidance for Rendezvous in NRO Orbits
AO/1-9839/19/NL/CRS
Principal investigator
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Ongoing
2019/01 - 2020/06 GNC preliminary design for rendezvous and docking in NRO orbits around the moon
1-9296/18/NL/CRS
Technical development
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Concluded
2019/09 - 2019/12 SPACE RIDER Phase B/C
C116002
Technical development
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Concluded
2019/03 - 2019/09 Lagrange Missions Phase A/B1 System Studies
AO/1-9006/17/DE/MRP
Technical development
GMVIS Skysoft, S.A., Portugal
 European Space Agency
Outputs

Publications

Book chapter
  1. Pedro Lourenço; Guerreiro, Bruno; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos. Corresponding author: Pedro Lourenço. "New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation". In Lecture Notes in Control and Information Sciences, edited by Fossen, Thor I.; Pettersen, Kristin Y.; Nijmeijer, Henk, 121-141. Springer International Publishing, 2017.
    Published • 10.1007/978-3-319-55372-6_6
Conference paper
  1. LOURENÇO, PEDRO; Hugo Costa; Pedro Cachim; João Branco; Pierre-Loic Garoche; Arash Sadeghzadeh; Jonathan Frey; et al. "Verification & validation of optimisation-based control systems: methods and outcomes of VV4RTOS". Paper presented in 12th International ESA Conference on Guidance, Navigation & Control Systems, Sopot, 2023.
    Accepted
  2. Pedro Pereira; Bruno J. N. Guerreiro; LOURENÇO, PEDRO. "Cooperative Platooning and Servicing for Spacecraft Formation Flying using Model Predictive Control". 2022.
    10.5281/ZENODO.7106140
  3. Marina Relvas; LOURENÇO, PEDRO; Pedro Batista. "Nonlinear MPC for Attitude Guidance & Control of Autonomous Spacecraft". 2022.
    10.1007/978-3-031-10047-5_2
  4. Serra, Pedro; LOURENÇO, PEDRO. "Computational Guidance & Navigation for Bearings-Only Rendezvous – methods and outcomes of GUIBEAR". Paper presented in 11th International ESA Conference on Guidance, Navigation & Control Systems, Sopot (Virtual), 2021.
    Published • 10.5281/zenodo.6471464
  5. LOURENÇO, PEDRO; João Franco; Milhano, Tiago (7C1F-C73F-14A0); João Branco. "Model Predictive Control for On-Board-Optimized Attitude Guidance for Cometary Fly-By - Problem Statement, Solutions and V&V Process". Paper presented in International Conference on Astrodynamics Tools and Techniques, Sopot (Virtual), 2021.
    Published • 10.5281/zenodo.6411680
  6. João Branco; Pablo Colmenarejo; Serra, Pedro; Pedro Lourenço; Thomas V. Peters; Marco Mammarella. "Critical GNC Aspects for ADR missions". Paper presented in 11th International ESA Conference on Guidance, Navigation & Control Systems, Sopot (Virtual), 2021.
    Published • 10.5281/zenodo.6410288
  7. Thomas V. Peters; José Francisco Briz Valero; Serra, Pedro; Pedro Lourenço; Ferdinando Cometto; Marco Berga; José Álvaro Pérez Gonzalez; Aurélien Cuffolo; Alexander Cropp. "Design and testing of the GNC for the HERACLES Lunar Ascent Element". Paper presented in 11th International ESA Conference on Guidance, Navigation & Control Systems, Sopot (Virtual), 2021.
    Published • 10.5281/zenodo.7936833
  8. Pedro Lourenço; Batista, P.; Oliveira, P.; Silvestre, C.. Corresponding author: Pedro Lourenço. "Simultaneous Localization and mapping in sensor networks: A GES sensor-based filter with moving object tracking". 2015.
    10.1109/ECC.2015.7330890
  9. Pedro Lourenço; Batista, P.; Oliveira, P.; Silvestre, C.. Corresponding author: Pedro Lourenço. "Torwards uncertainty optimization in active SLAM". 2015.
    10.1109/CDC.2015.7402706
  10. Pedro Lourenço; Batista, P.; Oliveira, P.; Silvestre, C.. Corresponding author: Pedro Lourenço. "A globally exponentially stable filter for bearing-only simultaneous localization and mapping in 3-D". 2015.
    10.1109/ECC.2015.7330964
  11. LOURENÇO, PEDRO; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos; Chen, C. L. Philip. "Sensor-based globally asymptotically stable range-only simultaneous localization and mapping". Paper presented in 52nd IEEE Conference on Decision and Control, Florence, 2013.
    Published • 10.1109/cdc.2013.6760786
  12. LOURENÇO, PEDRO; Guerreiro, Bruno J.; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos. "3-D inertial trajectory and map online estimation: Building on a GAS sensor-based SLAM filter". Paper presented in 2013 European Control Conference (ECC), Zurich, 2013.
    Published • 10.23919/ecc.2013.6669679
  13. LOURENÇO, PEDRO; Guerreiro, Bruno J.; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos. "Preliminary results on globally asymptotically stable simultaneous localization and mapping in 3-D". Paper presented in 2013 American Control Conference, Washington, D.C., 2013.
    Published • 10.1109/acc.2013.6580305
  14. LOURENÇO, PEDRO; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos; Chen, Philip. "A received signal strength indication-based localization system". Crete, 2013.
    Published • 10.1109/med.2013.6608878
Journal article
  1. Pereira, Pedro; Bruno Guerreiro; LOURENÇO, PEDRO. "Distributed Model Predictive Control Method for Spacecraft Formation Flying in a Leader-Follower Formation". IEEE Transactions on Aerospace and Electronic Systems (2022): 1-11. http://dx.doi.org/10.1109/taes.2022.3224692.
    In press • 10.1109/taes.2022.3224692
  2. Lourenço, P.; Guerreiro, B.J.; Batista, P.; Oliveira, P.; Silvestre, C.. "Earth-fixed trajectory and map online estimation: Building on GES sensor-based SLAM filters". Robotics and Autonomous Systems 130 (2020): http://www.scopus.com/inward/record.url?eid=2-s2.0-85084702903&partnerID=MN8TOARS.
    10.1016/j.robot.2020.103552
  3. Pedro Lourenço. "Strategies for uncertainty optimization through motion planning in GES sensor-based SLAM". Robotics and Autonomous Systems (2019): http://dx.doi.org/10.1016/j.robot.2018.12.005.
    10.1016/j.robot.2018.12.005
  4. Pedro Lourenço; Pedro Batista; Paulo Oliveira; Carlos Silvestre. "A globally exponentially stable filter for bearing-only simultaneous localization and mapping with monocular vision". Robotics and Autonomous Systems (2017):
    10.1016/j.robot.2017.11.001
  5. LOURENÇO, PEDRO; Guerreiro, Bruno J.; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos. "Uncertainty characterization of the orthogonal Procrustes problem with arbitrary covariance matrices". Pattern Recognition 61 (2017): 210-220. http://dx.doi.org/10.1016/j.patcog.2016.07.037.
    Published • 10.1016/j.patcog.2016.07.037
  6. LOURENÇO, PEDRO; Guerreiro, Bruno J.; Batista, Pedro; Oliveira, Paulo; Silvestre, Carlos. "Simultaneous localization and mapping for aerial vehicles: a 3-D sensor-based GAS filter". Autonomous Robots 40 5 (2016): 881-902. http://dx.doi.org/10.1007/s10514-015-9499-z.
    Published • 10.1007/s10514-015-9499-z
  7. Lourenço, P.; Batista, P.; Oliveira, P.; Silvestre, C.; Chen, C.L.P.. "Sensor-based globally exponentially stable range-only simultaneous localization and mapping". Robotics and Autonomous Systems 68 (2015): 72-85. http://www.scopus.com/inward/record.url?eid=2-s2.0-84925378455&partnerID=MN8TOARS.
    10.1016/j.robot.2015.01.010
Activities

Oral presentation

Presentation title Event name
Host (Event location)
2023/03 Tackling Space Debris: Control and SSTM in the aerospace industry Semana Aeroespacial 2023
Instituto Superior Técnico (Lisbon, Portugal)
2022/12 V&V of Optimization-based Control Systems – Developments and Objectives of the ESA VV4RTOS Project FEANICSES 2022 Workshop
Ecole Nationale de l’Aviation Civile (Toulouse, France)
2022/10/10 Attitude Determination & Control Systems NewSpace Academy 9: Small Satellite Mission Engineering
SPACEWAY
2022/07 Nonlinear MPC for Attitude Guidance & Control of Autonomous Spacecraft 15th APCA International Conference on Automatic Control and Soft Computing
Portuguese Association for Automatic Control (Caparica, Portugal)
2022/03 Designing Control Systems for Space Applications Semana Aeroespacial 2022
Instituto Superior Técnico (Lisboa, Portugal)
2021/09 GNC and Autonomy Perspectives on Orbit Servicing, Assembly and Active Debris Removal ESA 2021 Clean Space Industrial Days
European Space Agency
2021/06 Computational Guidance & Navigation for Bearings-Only Rendezvous – methods and outcomes of GUIBEAR 11th International ESA Conference on Guidance, Navigation & Control Systems
European Space Agency
2021/06 Critical GNC Aspects for ADR missions 11th International ESA Conference on Guidance, Navigation & Control Systems
European Space Agency
2021/06 Model Predictive Control for On-Board-Optimized Attitude Guidance for Cometary Fly-By - Problem Statement, Solutions and V&V Process 8th International Conference on Astrodynamics Tools and Techniques
European Space Agency
2020/03 Rendezvous with the future Lunar space station when taking off from the Moon Semana Aeroespacial 2020
Instituto Superior Técnico (Lisboa, Portugal)
2018/06 SLAM in the quest for autonomy: from theory to practice LARSyS Annual Meeting
Associate Laboratory of Robotics and Engineering Systems (Lisboa, Portugal)
2017/06 New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles
Norwegian University of Science and Technology (Alesund, Norway)
2015/07 A Globally Exponentially Stable filter for Bearing-Only Simultaneous Localization and Mapping in 3-D 2015 European Control Conference
European Control Association (Linz, Austria)
2015/07 Simultaneous Localization and Mapping in Sensor Networks: a GES sensor-based filter with moving object tracking 2015 European Control Conference
European Control Association (Linz, Austria)
2013/07 A Received Signal Strength Indication-Based Localization System 21st Mediterranean Conference on Control and Automation
Mediterranean Control Association (Creta, Greece)

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2022/09 - Current The interplay of Control Barrier and Control Lyapunov Functions and Model Predictive Control for in-orbit proximity operations
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2022/09 - Current Model Predictive Control and Allocation with Nonconvex Constraints for Space Rendezvous
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2022/02 - Current Hybrid and Distributed Allocation, Guidance, and Control for Cooperative On-Orbit Servicing
Co-supervisor of Gil Silvestre Serrano
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal

GMVIS Skysoft, S.A., Portugal
2022/03/03 - 2022/11/25 A Convex Allocation Framework for Singularity Avoidance in Control Moment Gyro Clusters
Co-supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021/09 - 2022/11/25 On-Orbit Pose and Inertia Estimation of Uncooperative Targets
Co-supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal

GMVIS Skysoft, S.A., Portugal
2020/09 - 2022/02/08 Model Predictive Control Applications for Satellite Cooperative Rendezvous
Co-supervisor
 Engenharia Electrotécnica, Sistemas e Computadores (Master)
Universidade Nova de Lisboa, Portugal

Universidade NOVA de Lisboa Faculdade de Ciências e Tecnologia, Portugal
2021/09 - 2022/02 Planning and Control of Autonomous Free-flying Robots For In-orbit Assembly
Co-supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal

Carnegie Mellon University, United States

GMVIS Skysoft, S.A., Portugal
2021/02 - 2021/10 Computational Attitude Guidance & Control for Autonomous Spacecraft
Co-supervisor
 Engenharia Electrotécnica e de Computadores (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021/02 - 2021/10 COSMIC: fast closed-form identification from large-scale data for LTV systems leading to optimal spacecraft attitude control
Co-supervisor
 Engenharia Aeroespacial (Master)
Universidade de Lisboa Instituto Superior Técnico, Portugal

GMVIS Skysoft, S.A., Portugal

Ad Hoc journal article review

Journal title (ISSN) Publisher
2022/01/05 - Current Automatica IFAC
2016 - Current Applied Soft Computing
2015 - Current IEEE Transactions on Systems, Man, and Cybernetics: Systems
2013 - Current Journal of Intelligent & Robotic Systems

Association member

Society Organization name Role
2022/01 - Current Associação Portuguesa de Controlo Automático Membro 209

Conference scientific committee

Conference name Conference host
2022/02 - Current CONTROLO’2022, the 15th International Conference on Automatic Control and Soft Computing Portuguese Association on Automatic Control
2018 - Current Mediterranean Conference on Control & Automation
2017 - Current IEEE Conference on Control Technology and Applications
2017 - Current IEEE Conference on Decision and Control
2017 - Current IEEE International Conference on Intelligent Robots and Systems
2017 - Current International Conference on Unmanned Aircraft Systems (ICUAS)
2015 - Current American Control Conference
2014 - Current European Control Conference
2013/02 - Current IFAC Symposium on Intelligent Autonomous Vehicles

Interview (newspaper / magazine)

Activity description Newspaper / Forum
2022/09 Edição n.º 19 | MEAer na 1.ª Pessoa: Entrevista a Pedro Lourenço Revista Aeroespacial
Distinctions

Award

2020 Best National PhD Thesis on Robotics Award by the SPR
Sociedade Portuguesa de Robótica, Portugal

Other distinction

2013 IST Merit Award
Universidade de Lisboa Instituto Superior Técnico, Portugal
2012 PhD Grant
Fundação para a Ciência e a Tecnologia, Portugal