Dr.-Ing. Bilal Wehbe

2026

• Journal
  Tom Vincent Slawik, Shubham Vyas, Bilal Wehbe, Leif Christensen, Frank Kirchner

  Prioritized Motion Control Robust to Actuator Failure for Hovering-Type AUVs Using INDI-QP

  IEEE Robotics and Automation Letters, 11(9), 10481-10488 · Jul 2026

  DOI: 10.1109/LRA.2026.3711829

2025

• Konferenz
  Lukas Skuras, Shubham Vyas, Bilal Wehbe, Frank Kirchner

  Trajectory Optimization and Control of Hydrobatic Out-of-Water Maneuvers for Icy Moon Exploration

  In: 18th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · Okt 2025
• Journal
  Nael Jaber, Bilal Wehbe, Frank Kirchner

  3D-DUO: 3D detection of underwater objects in low-resolution multibeam echosounder maps

  Ocean Engineering, 331, 121254 · Apr 2025

  DOI: 10.1016/j.oceaneng.2025.121254
• Journal
  Nael Jaber, Bilal Wehbe, Leif Christensen, Frank Kirchner

  MV3D: Multi-View 3D Reconstruction of Objects Using Forward-Looking Sonar

  IEEE Robotics and Automation Letters, 10, 8762-8769 · 2025

  DOI: 10.1109/LRA.2025.3588062
• Journal
  Christian Backe, Veit Briken, Atefeh Gooran Orimi, Rayen Hamlaoui, Malte Wirkus, Bilal Wehbe, Frank Kirchner

  Collaborative creation and management of rich FAIR metadata: Two case studies from robotics field research

  ing.grid, 3(1), 1-25 · 2025

  DOI: 10.48694/inggrid.4296
• Konferenz
  Nael Jaber, Qais Al-Ramahi, Leif Christensen, Bilal Wehbe

  SonarCloud: A Simulated Forward Looking Sonar Dataset for Underwater Perception Tasks

  In: SonarCloud: A Simulated Forward Looking Sonar Dataset for Underwater Perception Tasks, Chicago, Illinois, US · 2025

  DOI: 10.23919/OCEANS59106.2025.11245033

2024

• Konferenz
  Tom Vincent Slawik, Bilal Wehbe, Leif Christensen

  Deep Reinforcement Learning for Path-Following Control of an Autonomous Surface Vehicle using Domain Randomization

  In: 15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, 2024, Blacksburg, US · Sep 2024
• Konferenz
  Faraz Ahmad, Tom Creutz, Christian Ernst Siegfried Koch, Bilal Wehbe

  A Deep-Learning Approach for Visual Detection of an AUV Docking Station

  In: Proceedings of Oceans 2024, Halifax, CA · 2024

2023

• Beitrag
  Christian Backe, Bilal Wehbe, Miguel Bande Firvida, Nimish Shrenik Shah, Diego Brito dos Santos Cesar, Max Hermann Pribbernow

  Metadata of a Large Sonar and Stereo Camera Dataset Suitable for Sonar-to-RGB Image Translation (Dataset)

  Dez 2023
• Beitrag
  Bilal Wehbe, Nimish Shrenik Shah, Miguel Bande Firvida, Christian Backe

  Sonar-to-RGB Image Translation for Diver Monitoring in Poor Visibility Environments (Dataset)

  Mär 2023
• Konferenz
  Tom Creutz, Bilal Wehbe, Sascha Arnold, Marc Hildebrandt

  Towards Robust Autonomous Underwater Docking for Long-Term Under-Ice Exploration

  In: Proceedings of Oceans 2023, Limerick, IE · 2023
• Konferenz
  Lukas Rust, Bilal Wehbe, Shubham Vyas

  AUV Trajectory Optimization with hydrodynamic forces for icy moon exploration

  In: Proceedings of the 17th Symposium on Advanced Space Technologies in Robotics and Automation, Leiden, NL · 2023
• Konferenz
  Nael Jaber, Bilal Wehbe, Frank Kirchner

  Sonar2Depth: Acoustic-Based 3D Reconstruction Using cGANs

  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, US · 2023

  DOI: 10.1109/IROS55552.2023.10342251

2022

• Konferenz
  Bilal Wehbe, Nimish Shrenik Shah, Miguel Bande Firvida, Christian Backe

  Sonar-to-RGB Image Translation for Diver Monitoring in Poor Visibility Environments

  In: OCEANS 2022, Hampton Roads, 1-9 · Okt 2022

  DOI: 10.1109/OCEANS47191.2022.9977024
• Journal
  Leif Christensen, José de Gea Fernández, Marc Hildebrandt, Christian Ernst Siegfried Koch, Bilal Wehbe

  Recent Advances in AI for Navigation and Control of Underwater Robots

  Current Robotics Reports, n.n., n.n.-n.n. · Jul 2022

  DOI: 10.1007/s43154-022-00088-3
• Konferenz
  Shubham Vyas, Bilal Wehbe, Shivesh Kumar

  Quaternion based LQR for Free-Floating Robots without Gravity

  In: 6th CEAS Conference on Guidance, Navigation, and Control, Berlin, DE · Mai 2022
• Konferenz
  Alan Preciado-Grijalva, Bilal Wehbe, Miguel Bande Firvida, Matias Valdenegro-Toro

  Self-supervised Learning for Sonar Image Classification

  In: Self-supervised Learning for Sonar Image Classification, New Orleans, US, 1498-1507 · 2022

  DOI: 10.1109/CVPRW56347.2022.00156
• Konferenz
  Marc Hildebrandt, Tom Creutz, Bilal Wehbe, Marius Wirtz, Michael Zipper

  Under-Ice Field tests with an AUV in Abisko/Torneträsk

  In: OCEANS 2022 - Hampton Roads, Virginia Beach, US · 2022
• Konferenz
  Sascha Arnold, Bilal Wehbe

  Spatial Acoustic Projection for 3D Imaging Sonar Reconstruction

  In: 2022 International Conference on Robotics and Automation (ICRA) · 2022

  DOI: 10.1109/ICRA46639.2022.9812277

2021

• Konferenz
  Mihir Patil, Bilal Wehbe, Matias Valdenegro-Toro

  Deep Reinforcement Learning for Continuous Docking Control of Autonomous Underwater Vehicles: A Benchmarking Study

  In: Global OCEANS 2021, San Diego, US · Sep 2021
• Konferenz
  Matias Valdenegro-Toro, Alan Preciado, Bilal Wehbe

  Pre-trained Models for Sonar Images

  In: Global OCEANS 2021, San Diego, US · 2021
• Konferenz
  Miguel Bande Firvida, Bilal Wehbe

  Online Model Adaptation of Autonomous Underwater Vehicles with LSTM Networks

  In: Online Model Adaptation of Autonomous Underwater Vehicles with LSTM Networks, Porto, PT, 1-6 · 2021

  DOI: 10.23919/OCEANS44145.2021.9705897

2020

• Buch
  José de Gea Fernández, Christian Ott, Bilal Wehbe

  Machine Learning and Dynamic Whole Body Control for Underwater Manipulation

  In: AI Technology for Underwater Robots, 107-115 · Okt 2020

  DOI: 10.1007/978-3-030-30683-0_9
• Konferenz
  Marc Hildebrandt, Sascha Arnold, Philipp Kloss, Bilal Wehbe, Michael Zipper

  From epi-to bathypelagic: Transformation of a compact auv system for long-term deployments

  In: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), Memorial University of Newfoundland, St. John's, CA, 1-6 · 2020

2019

• Beitrag
  Matias Valdenegro-Toro, Mariela De Lucas Alvarez, Mariia Dmitrieva, Bilal Wehbe, Georgios Salavasidis, Shahab Heshmati-Alamdari, Juan Francisco Fuentes-Pérez, Veronika Yordanova, Klemen Istenic, Thomas Guerneve

  Results from the Robocademy ITN: Autonomy, Disturbance Rejection and Perception for Advanced Marine Robotics

  Okt 2019
• Konferenz
  Bilal Wehbe, Marc Hildebrandt, Frank Kirchner

  A Framework for On-line Learning of Underwater Vehicles Dynamic Models

  In: International Conference on Robotics and Automation, Montréal, CA · 2019

2018

• Konferenz
  Bilal Wehbe, Luis Octavio Arriaga Camargo, Mario Michael Krell, Frank Kirchner

  Learning of Multi-Context Models for Autonomous Underwater Vehicles

  In: Proceedings of the AUV 2018 IEEE/OES Porto, Porto, PT · Nov 2018
• Konferenz
  Raúl Domínguez, Romain Michalec, Nassir W. Oumer, Fabrice Souvannavong, Mark Post, Shashank Govindaraj, Alexander Fabisch, Bilal Wehbe, Jérémi Gancet, Alessandro Bianco, Simon Lacroix, Andrea De Maio, Quentin Labourey, Vincent Bissonnette, Michal Smí¨ek, Xiu Yan

  A Common Data Fusion Framework For Space Robotics: Architecture And Data Fusion Methods

  In: Proceedings of the 14th International Symposium on Artificial Intelligence, Madrid, ES · Jun 2018
• Konferenz
  Mark Post, Romain Michalec​, Alessandro Bianco, Xiu Yan, Andrea De Maio​, Quentin Labourey, Simon Lacroix, Jeremi Gancet​, Shashank Govindaraj, Xavier Martinez-Gonzalez​, Iyas Dalati, Raúl Domínguez, Bilal Wehbe, Alexander Fabisch​, Enno Röhrig, Fabrice Souvannavong, Vincent Bissonnette, Michal Smí¨ek, Nassir W. Oumer, Lukas Meyer, Rudolph Triebel, Zoltán-Csaba Márton

  InFuse Data Fusion Methodology for Space Robotics, Awareness and Machine Learning

  In: 69​th​ International Astronautical Congress (IAC), Bremen, DE · 2018

2017

• Konferenz
  Bilal Wehbe, Alexander Fabisch, Mario Michael Krell

  Online Model Identification for Underwater Vehicles through Incremental Support Vector Regression

  In: IEEE/RSJ, Vancouver, CA, 4173-4180 · Sep 2017
• Konferenz
  Bilal Wehbe, Mario Michael Krell

  Learning Coupled Dynamic Models of Underwater Vehicles using Support Vector Regression

  In: Proceeding of Oceans '17 MTS/IEEE Aberdeen, Aberdeen, GB · Jun 2017
• Konferenz
  AUVx - A Novel Miniaturized Autonomous Underwater Vehicle

  o.A. · Jun 2017
• Konferenz
  Bilal Wehbe, Marc Hidebrandt, Frank Kirchner

  Experimental Evaluation of Various Machine Learning Regression Methods for Model Identification of Autonomous Underwater Vehicles

  In: Proceedings of 2017 International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, SG, 4885-4890 · Mai 2017
• Konferenz
  Shashank Govinderaj, Jeremi Gancet, Mark Post, Raúl Domínguez, Fabrice Souvannavong, Simon Lacroix, Michal Smisek, Javier Hidalgo-Carrio, Bilal Wehbe, Alexander Fabisch, Andrea De Maio, Nassir Oumer, Vincent Bissonnette, Zoltan-Csaba Marton, Sandeep Kottath, Christian Nissler, Xiu Yan, Rudolph Triebel, Francesco Nuzzolo

  InFuse : a comprehensive framework for data fusion in space robotics

  In: Proceedings of ASTRA 2017, ESA-ESTEC, Leiden, NL · 2017