Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision. - Eduardo Ochoa; Nuno Gracias; Klemen Istenic; Josep Bosch; Patryk Cieslak; Rafael García (Sensors, 2022)

Stonefish: Supporting Machine Learning Research in Marine Robotics. - Michele Grimaldi; Patryk Cieslak; Eduardo Ochoa; Vibhav Bharti; Hayat Rajani; Ignacio Carlucho; Maria Koskinopoulou; Yvan R. Petillot; Nuno Gracias (CoRR, 2025)