The following list contains our recent publications. Please don’t hesitate to contact the authors if any questions arise. We welcome discussion and collaboration and, where possible, will share our datasets and analyses.

Recent publications

• D Fraser, A Pretorius, J Hepworth, and N Botha, ‘Embedded systems design of a low-cost flight controller for use in UAV platforms’, MATEC Web Conf., vol 417, 2025, doi: https://doi.org/10.1051/matecconf/202541704006.
• G Hasewinkel and A Pretorius, ‘Propulsion Rig: A multirotor performance measurement test platform, MATEC Web Conf., vol 417, 2025, doi: https://doi.org/10.1051/matecconf/202541704008.
• A Ramwell, A Pretorius, and N Botha, ‘Evaluation of a lightweight visual–inertial state estimator for GPS-denied environments’, MATEC Web Conf., vol 417, 2025, doi: https://doi.org/10.1051/matecconf/202541704011.
• L Richardson and A Pretorius, ‘Development of a high-fidelity simulation environment for a Crazyflie2.1 quadcopter, MATEC Web Conf., vol 417, 2025, doi: https://doi.org/10.1051/matecconf/202541704007.
• A Pretorius and J Bok, ‘Teaching Control Systems with Interactive MATLAB Live Scripts’, Proceedings from the International Research Symposium on Problem-Based Learning (IRSPBL). 2025, doi: https://doi.org/10.54337/irspbl-11086.
• D. Schütz and J. H. Hepworth, ‘uArm Swift simulation and control’, MATEC Web Conf., vol. 406, p. 04014, 2024, doi: 10.1051/matecconf/202440604014.
• W. de Ronde, P. Bosscha, S. Marais, and A. Pretorius, ‘Manufacture and testing of ARGUS: A pole climbing surveillance robot’, MATEC Web Conf., vol. 406, p. 04015, 2024, doi: 10.1051/matecconf/202440604015.
• Z. Meyer and A. Pretorius, ‘Design of a low-cost optical motion capture system using a multi-camera configuration and an asynchronous extended Kalman filter’, MATEC Web Conf., vol. 406, p. 04010, 2024, doi: 10.1051/matecconf/202440604010.
• L. McAlpine, A. Pretorius, “A Compact Set of Closed-form Equations for the Set of Dubins and Reeds-Shepp Paths”, Control Conference Africa, 2024
• W. de Ronde, P. Bosscha, S. Marais, A. Pretorius, “ARGUS: a pole climbing surveillance robot,” presented at the RAPDASA-RobMech-PRASA-AMI Conference, 2023
• R. A. Verrinder et al., “An array of in situ ice-tethered waves-in-ice instruments deployed during targeted observational experiment in winter 2022 in the Antarctic MIZ in support of Southern Hemisphere climate predictions,” presented at the Southern Ocean Observing System Symposium, 2023
• A. Spriakis, R. A. Verrinder, and J. H. Hepworth, “In-situ static sea ice imaging using LiDAR and depth camera technology,” presented at the Southern Ocean Observing System Symposium, 2023.
• A. Spirakis, J. Hepworth, and R. Verrinder, ‘3D Reconstruction of Pancake Sea Ice Using Lidar and Cameras’, in IGARSS 2023 - 2023 IEEE International Geoscience and Remote Sensing Symposium, Jul. 2023, pp. 60–63. doi: 10.1109/IGARSS52108.2023.10282250.
• J. H. Hepworth and A. K. Mishra, ‘Analysis of Arctic Buoy Dynamics using the Discrete Fourier Transform and Principal Component Analysis’, in 2023 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), May 2023, pp. 1–6. doi: 10.1109/I2MTC53148.2023.10176076.
• M. Vichi et al., “An observational network for synoptic observations in the Antarctic marginal ice zone,” presented at the 13th International Conference on Southern Hemisphere Meteorology and Oceanography (ICSHMO2022).
• A. Pretorius and E. Boje, “A refinement approach to the multivariable tracking error problem,” Int. J. Robust Nonlinear Control, vol. 32, no. 12, pp. 7016–7038, Aug. 2022.
• A. Pretorius and E. Boje, “A complementary quantitative feedback theory solution to the 2 × 2 tracking error problem,” Int. J. Robust Nonlinear Control, vol. 30, no. 16, pp. 6569–6584, Nov. 2020.
• L. Raw, C. Fisher, and A. Patel, “Effects of limb morphology on transient locomotion in quadruped robots,” in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Nov. 2019.