Docking of Non-Holonomic AUVs in Presence of Ocean Currents: A Comparative Survey. - Joan Esteba; Patryk Cieslak; Narcís Palomeras; Pere Ridao (IEEE Access, 2021)

Compliant Manipulation With Quasi-Rigid Docking for Underwater Structure Inspection. - Roger Pi; Patryk Cieslak; Joan Esteba; Narcís Palomeras; Pere Ridao (IEEE Access, 2023)

Managed Surge Controller: A Docking Algorithm for a Non-Holonomic AUV (Sparus II) in the Presence of Ocean Currents for a Funnel-Shaped Docking Station. - Joan Esteba; Patryk Cieslak; Narcís Palomeras; Pere Ridao (Sensors, 2023)

Enhancing the AUV long-term deployment: non-holonomic AUV autonomous docking using acoustics in a funnel-shaped docking station - Joan Esteba (2024)

Sparus Docking Station: A current aware docking station system for a non-holonomic AUV. - Joan Esteba; Patryk Cieslak; Narcís Palomeras; Pere Ridao (J. Field Robotics, 2024)