In 2013 I started a post-doctoral fellow position at the Instituto Superior Técnico in Lisbon. My work dealt with cooperative formation control problems in the framework of the European project MORPH.
The MORPH project proposed a novel concept of an underwater robotic system that emerges out of integrating, albeit in a non-physical manner, different mobile robot-modules with distinct and complementary resources. The aim was to provide efficient methods to map the underwater environment with great accuracy in situations that defy existing technology: namely underwater surveys over rugged terrain and structures with full 3D complexity, including walls with a negative slope.