• J.C. Castillo, J. Valente y D. Blanco. Problemas de Automatización Industrial. CopyRed, Spain, 2017. [BibTeX]


  • João Valente, An Aerial Robotic Framework - Yet another Precision Agriculture tool, LAP Lambert Academic Publishing, Germany, 2012. [BibTeX]



  • João Valente, Julian Colorado, Claudio Rossi, Alex Martinez, Jaime Del Cerro, Antonio Barrientos. A mini unmanned aerial system for remote sensing in agriculture. Handbook of robotics. Chapter 56 — Robotics in Agriculture and Forestry, Video ID: 307, 2016.

International journals

  • S. de Jong, H. Baja, K. Tamminga and J. Valente, “APPLE MOTS: Detection, Segmentation and Tracking of Homogeneous Objects Using MOTS*,” in IEEE Robotics and Automation Letters, 2022, doi: 10.1109/LRA.2022.3199026.
  • Zhang, Chenglong; Mouton, Christiaan; Valente, João; Kooistra, Lammert; Ooteghem, Rachel; Hoog, Dirk; Dalfsen, Pieter; Jong, Peter. (2022). Automatic flower cluster estimation in apple orchards using aerial and ground based point clouds. Biosystems Engineering. 221. 164-180. 10.1016/j.biosystemseng.2022.05.004.
  • Valente, João; Hiremath, Santosh; Ariza-Sentís, Mar; Doldersum, Marty; Kooistra, Lammert. (2022). Mapping of Rumex obtusifolius in nature conservation areas using very high resolution UAV imagery and deep learning. International Journal of Applied Earth Observation and Geoinformation. 112. 102864.
  • Ghaffarian, Saman, Voort, Mariska, Valente, João, Tekinerdogan, Bedir, De Mey, Yann. (2022). Machine learning-based farm risk management: A systematic mapping review. Computers and Electronics in Agriculture. 192. 106631.
  • Aguiar, A.S.; Magalhães, S.A.; dos Santos, F.N.; Castro, L.; Pinho, T.; Valente, J.; Martins, R.; Boaventura-Cunha, J. Grape Bunch Detection at Different Growth Stages Using Deep Learning Quantized Models. Agronomy 2021, 11, 1890.
  • Krul, S.; Pantos, C.; Frangulea, M.; Valente, J. Visual SLAM for Indoor Livestock and Farming Using a Small Drone with a Monocular Camera: A Feasibility Study. Drones 2021, 5, 41.
  • Zhang, C., Valente, J., Kooistra, L. et al. Orchard management with small unmanned aerial vehicles: a survey of sensing and analysis approaches. Precision Agric (2021).
  • Ivošević, B.; Lugonja, P.; Brdar, S.; Radulović, M.; Vujić, A.; Valente, J. UAV-Based Land Cover Classification for Hoverfly (Diptera: Syrphidae) Habitat Condition Assessment: A Case Study on Mt. Stara Planina (Serbia). Remote Sens. 2021, 13, 3272.
  • Ghaffarian, S.; Valente, J.; van der Voort, M.; Tekinerdogan, B. Effect of Attention Mechanism in Deep Learning-Based Remote Sensing Image Processing: A Systematic Literature Review. Remote Sens. 2021, 13, 2965.
  • Mawrence, R.; Munniks, S.; Valente, J. Calibration of Electrochemical Sensors for Nitrogen Dioxide Gas Detection Using Unmanned Aerial Vehicles. Sensors 2020, 20, 7332.
  • Valente, J., Almeida, R. & Kooistra, L. Inferring ethylene temporal and spatial distribution in an apple orchard (Malus domestica Borkh): a pilot study for optimal sampling with a gas sensor. Hortic. Environ. Biotechnol. 62, 213–224 (2021).
  • Araujo, J.O.; Valente, J.; Kooistra, L.; Munniks, S.; Peters, R.J.B. Experimental Flight Patterns Evaluation for a UAV-Based Air Pollutant Sensor. Micromachines 2020, 11, 768.
  • Velasco, O.; Valente, J.; Alhama Blanco, P.J.; Abderrahim, M. An Open Simulation Strategy for Rapid Control Design in Aerial and Maritime Drone Teams: A Comprehensive Tutorial. Drones 2020, 4, 37.
  • Apolo-Apolo, O. E., Pérez-Ruiz, M., Martínez-Guanter, J., Valente, J. (2020). A Cloud-Based Environment for Generating Yield Estimation Maps From Apple Orchards Using UAV Imagery and a Deep Learning Technique. Frontiers in Plant Science, 11, [1086].
  • João Valente, Bilal Sari, Lammert Kooistra, Henk Kramer, and Sander Mücher. Automated crop plant counting from very high-resolution aerial imagery. Precision Agriculture (2020). Accepted.
  • Niels Anders, Mike Smith, Juha Suomalainen, Erik Cammeraat, João Valente, Saskia Keesstra. Impact of flight altitude and cover orientation on Digital Surface Model (DSM) accuracy for flood damage assessment in Murcia (Spain) using a fixed-wing UAV. Earth Science Informatics (2020).
  • Siebring, J.; Valente, J.; Domingues Franceschini, M.H.; Kamp, J.; Kooistra, L. Object-Based Image Analysis Applied to Low Altitude Aerial Imagery for Potato Plant Trait Retrieval and Pathogen Detection. Sensors 2019, 19, 5477.
  • Anders, N.; Valente, J.; Masselink, R.; Keesstra, S. Comparing Filtering Techniques for Removing Vegetation from UAV-Based Photogrammetric Point Clouds. Drones 2019, 3, 61.
  • J. Valente, L. Kooistra and S. Mucher, Fast Classification of Large Germinated Fields Via High-Resolution UAV Imagery, in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3216-3223, Oct. 2019
  • Roldán, J.J.; Díaz-Maroto, V.; Real, J.; Palafox, P.R.; Valente, J.; Garzón, M.; Barrientos, A. Press Start to Play: Classifying Multi-Robot Operators and Predicting Their Strategies through a Videogame. Robotics 2019, 8, 53.
  • R. Palafox, P.; Garzón, M.; Valente, J.; Roldán, J.J.; Barrientos, A. Robust Visual-Aided Autonomous Takeoff, Tracking, and Landing of a Small UAV on a Moving Landing Platform for Life-Long Operation. Appl. Sci. 2019, 9, 2661.
  • Valente, J.; Roldán, J.J.; Garzón, M.; Barrientos, A. Towards Airborne Thermography via Low-Cost Thermopile Infrared Sensors. Drones 2019, 3, 30.
  • Valente, J.; Almeida, R.; Kooistra, L. A Comprehensive Study of the Potential Application of Flying Ethylene-Sensitive Sensors for Ripeness Detection in Apple Orchards. Sensors 2019, 19, 372.
  • David Borreguero; Omar Velasco; João Valente. Experimental Design of a Mobile Landing Platform to Assist Aerial Surveys in Fluvial Environments. Applied Sciences. 9(1), 38, 2019.
  • Ignacio Pastor, João Valente, Adaptive sampling in robotics: A survey, Revista Iberoamericana de Automática e Informática Industrial (RIAI), 14(2):123-132, 2017. [BibTeX] IF: 0.510 (2017).
  • Conesa-Muñoz, J.; Valente, J.; del Cerro, J.; Barrientos, A.; Ribeiro, A. A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents. 16(8):1269-1335, 2016. [BibTeX] IF: 2.677 (2016)
  • Mario Garzón, João Valente, Juan Jesús Roldán, Leandro Cancar, Antonio Barrientos and Jaime Del Cerro. A Multirobot system for distributed signal searching and localization in large outdoor scenarios, Journal of Field Robotics, 2015. In press. [BibTeX] IF: 2.059 (2015)
  • David Zapata, Mario Garzón, João Valente, Antonio Barrientos, QuadLab - A Project-Based Learning Toolkit for Automation and Robotics Engineering Education. Journal of Intelligent & Robotic Systems, 81(1):97-116, 2015. [BibTeX] IF: 1.512 (2016)
  • D. Sanz, J. Valente, J. del Cerro, J. Colorado, A. Barrientos. Safe operation of mini UAVs: A review of regulation and best practices. Advanced Robotics, 29(19):1221-1233, 2015. [BibTeX] IF: 0.516 (2015)
  • J. Valente, J. Del Cerro, A. Barrientos, D. Sanz, Aerial coverage optimization in precision agriculture management: A musical harmony inspired approach. Computers and Electronics in Agriculture Volume 99, pp. 153-159, 2013. [BibTeX] IF: 1.486 (2013)
  • Garzón, Mario; Valente, João; Zapata, David; Barrientos, Antonio. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas. Sensors, 13(1):1247-1267, 2013. [BibTeX] invited paper IF: 2.048 (2013)
  • J. Valente, D. Sanz, J. Del Cerro, A. Barrientos, M. Á. de Frutos. Near-optimal coverage trajectories for image mosaicing using a mini quad-rotor over irregular-shaped fields. Precision Agriculture, Volume 14, Issue 1, pp 115-132, 2013. [BibTeX] invited paper IF: 2.010 (2013)
  • A. Barrientos, J. Colorado, J. del Cerro, A. Martinez, C. Rossi, D. Sanz and J. Valente. Aerial Remote Sensing in Agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots. Journal of Field Robotics, 28:5, pp. 667-689, 2011. [BibTeX] IF: 2.244 (2011)
  • João Valente, David Sanz, Antonio Barrientos, Jaime del Cerro, Angela Ribeiro, and Claudio Rossi. An air-ground wireless sensor network for crop monitoring. Sensors, 11(6):6088-6108, 2011. [BibTeX] IF: 1.739 (2011)

Book chapters

  • Mario Garzón, João Valente, Juan Jesús Roldán, David Garzón-Ramos, Jorge de León, Antonio Barrientos, and Jaime del Cerro. Using ROS in multi-robot systems: experiences and lessons learned from real-world field tests, In (Eds.), Robot Operating System (ROS). Springer International Publishing, 2017. Accepted.
  • Jaime del Cerro, Antonio Barrientos, David Sanz and João Valente, Aerial Fleet in RHEA Project: A High Vantage Point, In M.A. Armada, A. Sanfeliu, M. Ferre (Eds.), ROBOT2013: First Iberian Robotics Conference, volume 252 of Advances in Intelligent Systems and Computing, pages 457-468. Springer International Publishing, 2014. [BibTeX]
  • João Valente, Antonio Barrientos, Jaime del Cerro, Claudio Rossi, Julian Colorado, David Sanz, and Mario Garzón. Multi-robot visual coverage path planning: Geometrical metamorphosis of the workspace through raster graphics based approaches. In Beniamino Murgante, Osvaldo Gervasi, Andrés Iglesias, David Taniar, and Bernady Apduhan, editors, Computational Science and Its Applications - ICCSA 2011, volume 6784 of Lecture Notes in Computer Science, pages 58-73. Springer Berlin / Heidelberg, 2011. [BibTeX]
  • João Valente, Antonio Barrientos, and Jaime Del Cerro. Coverage path planning to survey a large outdoor areas with aerial robots: A comprehensive analysis. In Daisuke Chugo and Sho Yokota (eds.), Introduction to Modern Robotics II, chapter 4. iConcept Press, Annerley, Australia, 2011. [BibTeX]

International conferences and workshops

  • Mar Ariza-Sentís, Sergio Veléz, João Valente. Automatic tracking of grape clusters and early phenotyping from UAV video sequences. 7th International Plant Phenotyping Symposium. 2022. Accepted.
  • Zhang, Chenglong; Kooistra, Lammert; Valente, Joao; Guo, Leifeng; Wang, Wensheng. High-resolution Aerial RGB Imagery For Flowering Intensity Quantification: A Triennial Study In A High-density Apple Orchard. 41st EARSeL (Earth Observation for Environmental Monitoring) Symposium. 2022. Accepted.
  • Tamminga, K., De Jong, S., Valente, J. (2021). 116. A human-borne sensor device to foster participatory sensing in precision orchard management. In J. V. Stafford (Ed.), Precision agriculture ’21 (pp. 965-971). [116] Wageningen Academic Publishers.
  • Frangulea, M., Pantos, C., Giuffrida, V., Valente, J. (2021). 59. Plant phenotyping on-demand: an integrative web-based framework using drones and participatory sensing in greenhouses. In J. V. Stafford (Ed.), Precision agriculture ’21 (pp. 493-500). [59] Wageningen Academic Publishers.
  • O. Velasco, J. Valente and A. Y. Mersha, “An Adaptive Informative Path Planning Algorithm for Real-time Air Quality Monitoring Using UAVs,” 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020, pp. 1121-1130
  • De Groot, J., Apolo-Apolo Enrique O., Valente., J. (2020). Development of a UAV image Dataset for Cauliflowers Ripeness Classification with Deep Learning. Poster session presented at Computer Vision Problems in Plant Phenotyping (CVPPP 2020), Glasgow, UK.
  • Valente, J., Kooistra, L. (2020). MOOC drones for agriculture: The making-of. In A. Cardoso, G. R. Alves, & T. Restivo (Eds.), Proceedings of the 2020 IEEE Global Engineering Education Conference, EDUCON 2020 (pp. 1692-1695). [9125309] (IEEE Global Engineering Education Conference, EDUCON; Vol. 2020-April). IEEE computer society.
  • Velasco, O., Valente, J. (2020). Online drone education, a mapping review. In A. Cardoso, G. R. Alves, & T. Restivo (Eds.), Proceedings of the 2020 IEEE Global Engineering Education Conference, EDUCON 2020 (pp. 1286-1289). [9125268] (IEEE Global Engineering Education Conference, EDUCON; Vol. 2020-April). IEEE computer society.
  • J. Valente, L. Kooistra and S. Mucher, Fast Classification of Large Germinated Fields Via High-Resolution UAV Imagery, Presented in IEEE 15th International Conference on Automation Science and Engineering (CASE 2019), 22-26 August 2019, Vancouver, BC, Canada.
  • João Valente, Mario Valerio Giuffrida. Leaf counting from uncontrolled acquired images from greenhouse workers. In the proceedings of the COMPUTER VISION PROBLEMS IN PLANT PHENOTYPING (CVPPP 2019) workshop, June 17th 2019, Long Beach, CA.
  • João Valente, Marty Doldersum, Corinna Roers, Lammert Kooistra. Detecting Rumex Obtusifolius Weed Plants in Grasslands From UAV RGB Imagery Using Deep Learning. In The ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, UAV-G – Unmanned Aerial Vehicles in Geomatics and Remote Sensing, Enschede (The Netherlands), 10-12 Jun. 2019.
  • Aina Tubau Comas, João Valente, Lammert Kooistra. Automatic Apple Tree Blossom Estimation from UAV RGB Imagery. In The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Enschede (The Netherlands), 10-12 Jun. 2019.
  • Chenglong Zhang, João Valente, Lammert Kooistra, Leifeng Guo, Wensheng Wang. Opportunities of UAVs in Orchard Management. In The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Enschede (The Netherlands), 10-12 Jun. 2019.
  • João Valente; Sandra Munniks; Imke de Man; and Lammert Kooistra. Validation of a small flying e-nose system for air pollutants control: A plume detection case study from an agricultural machine. In Proceedings of the IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), December 12-15, 2018, in Kuala Lumpur, Malaysia. [BibTeX]
  • João Valente; Harold J.G. Meijer; Qijun Jiang; Lammert Kooistra; Gert H.J. Kema. On-the-track of Soil-borne Pathogens Using Electronic Noses. EurAgEng 2018 conference, Wageningen, The Netherlands, 2018. [BibTeX]
  • João Valente; Rodrigo Almeida; Lammert Kooistra. The Electronic Smell of the Orchard Fruit. EurAgEng 2018 conference, Wageningen, The Netherlands, 2018. [BibTeX]
  • Nikolaos Mylonas; João Valente; Joris IJsselmuiden; Gert Kootstra. Inter-row Weed Detection of Sugar Beet Fields Using Aerial Imagery. EurAgEng 2018 conference, Wageningen, The Netherlands, 2018. [BibTeX]
  • Oma Velasco, Pablo J. Alhama, João Valente. Smooth autonomous take-off and landing maneuvers over a double-hulled watercraft. In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 389-396, 2017, Madrid, Spain. [BibTeX]
  • João Valente, Thomas Stützle, and Lammert Kooistra. An aerial mission planner for practicable and safe aerial surveying using ant colony optimization metaheuristics design. European Federation for Information Technology in Agriculture, Food and the Environment (EFITA) WCCA 2017, pp.133-134, Montpellier (France), 2017. [BibTeX]
  • João Valente, David Borreguero, Juan Carlos Batista. An air-water robotic system for remote sensing tasks in fluvial environments. XVIII Congreso de la Asociación Ibérica de Limnología, Tortosa (Spain), 2016. [BibTeX]
  • Conesa-Muñoz, Jesús; Valente, João; Cerro, Jaime del; Barrientos, Antonio; Ribeiro Seijas, Ángela, Integrating autonomous aerial scouting with autonomous ground actuation to reduce chemical pollution on crop soil. ROBOT 2015: Second Iberian Robotics Conference, Lisbon (Portugal), 2015. [BibTeX]
  • João Valente, Jaime del Cerro and Antonio Barrientos. What is the optimal stitching orientation from an aerial survey perspective? In Proceedings of the International Conference on Robotics and associated High-technologies and Equipment for Agriculture. pp. 449-457, Madrid (Spain), 2014. [BibTeX]
  • João Valente, Adrian Guillen, Oscar Manrique, Mercedes Arenal and Antonio Barrientos. On the acquisition of high-resolution maps with open source software and commercials off-the-shelf quad-rotors. In Proceedings of the International Conference on Robotics and associated High-technologies and Equipment for Agriculture. pp. 419-429, Madrid (Spain), 2014. [BibTeX]
  • João Valente, Antonio Barrientos, and Jaime Del Cerro. Optimization of Aerial Surveys using an Algorithm Inspired in Musicians Improvisation. 23rd International Conference on Automated Planning and Scheduling (ICAPS'13), Proceedings of the 1st Workshop on Planning and Robotics (PlanRob). pp. 72-79, Rome (Italy), 2013. [BibTeX]
  • D.Sanz, J.Valente, J.del Cerro, M.A. de Frutos, J.J.Roldan. and A.Barrientos. Risk analysis for uav safe operations: a rationalization for an agricultural environment. International Conference on Robotics and associated High-technologies and Equipment for Agriculture. pp. 229-234, Pisa (Italy), 2012. [BibTeX]
  • J.D.Hernandez, J.Barrientos, D.Sanz, A.Barrientos, J.Del Cerro, and J.Valente. Non-invasive moisture measurement in agricultural fields using a rolling spherical robot. International Conference on Robotics and Associated High-technologies and Equipement for Agriculture. pp. 235-240, Pisa (Italy), 2012. [BibTeX]
  • Mario Garzón, João Valente, David Zapata, Rigoberto Chil and Antonio Barrientos. Towards a ground navigation system based in visual feedback provided by a mini UAV. In Proceedings of the IEEE Intelligent Vehicles Symposium Workshops - Perception in Robotics (10th Robocity2030 Workshop). Madrid, Spain, 2012. [BibTeX]
  • J. Valente, A. Barrientos, J. del Cerro, C. Rossi, D. Sanz, and M. Garzón, C. Rossi, Practical issues and improvements in farmland coverage with aerial vehicles, Research, First Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS 2011), Seville, Spain, November 2011. [BibTeX]
  • João Valente, David Sanz, Jaime Del Cerro, Claudio Rossi, Mario Garzón, Juan D. Hernádez and Antonio Barrientos, Techniques for area discretization and coverage in aerial photography for precision agriculture employing mini quad-rotors, Proceedings of the first international workshop on Robotics and Associated High-Technologies and Equipment for Agriculture (RHEA-2011), Montpellier, France, pages 85-97, 2011. [BibTeX]
  • João Valente, Antonio Barrientos, Jaime Del Cerro, and David Sanz. A waypoint-based mission planner for a farmland coverage with an aerial robot - a precision farming tool. In Proceedings of 8th European Conference on Precision Agriculture (ECPA'11), Prague, Czech Republic, 2011. [BibTeX]
  • D. Sanz, A. Barrientos, M. Garzon, C. Rossi, J. Del Cerro, and J. Valente. A secondary mission planner restricted to a predefined prior mission. In Proc. of The 11th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), 2011. [BibTeX]
  • J. Colorado, A. Barrientos, A. Martinez, B. Lafaverges, and J. Valente. Mini-quadrotor attitude control based on hybrid backstepping & frenet-serret theory. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'10), pages 1617-1622, may. 2010. [BibTeX]
  • A. Barrientos, J. Colorado, A. Martinez, and J. Valente. Rotary-wing mav modeling & control for indoor scenarios. In Proceedings of the IEEE International Conference on Industrial Technology (ICIT'01), pages 1475-1480, mar. 2010. [BibTeX]
  • Angeletti, G., Valente, J., Iocchi, L., Nardi, D., Autonomous Indoor Hovering with a Quadrotor, International Conference on Simulation, Modeling and Programming for Autonomous robots (SIMPAR'08), Workshop on Mini and Micro UAV for Security and Surveillance, pp.472-481, Venice, Italy. [BibTeX]

National conferences and workshops

  • Jaime del Cerro, Antonio Barrientos, João Valente, David Sanz. Aerial Mission in RHEA Project. 13th RoboCity2030 Workshop: EU Projects Results in the Frame of the Madrid’s Regional Robotic Hub RoboCity2030. Madrid (Spain), 2015.
  • J. del Cerro, J. Valente, D. Sanz, C. Rossi, L. Cancar, A. Barrientos, Flota de Vehículos aéreos para fotografia de alta resolución en aplicaciones de agricultura de precision. Proyecto RHEA, XXXV Jornadas de Automática, Valencia, Spain, 2014. Accepted. [BibTeX]
  • D. Sanz, J. del Cerro, J. Valente, and M. Garzón , A. Barrientos, Planificación de trayectorias bi-objetivo en robótica aerea para agricultura de precisión, Robot 2011 - III Workshop de Robótica : Robótica Experimental, Sevilla, Spain, November 2011. [BibTeX]
  • João Valente, Antonio Barrientos, Alexander Martinez, and Christian Fiederling. Field tests with an aerial-ground convoy system for collaborative tasks. In 8th Workshop of RoboCity2030-II: Robots Exteriores, pages 233-248, Madrid, Spain, 2010. [BibTeX]


  • Aerial Coverage Path Planning applied to Mapping. PhD's thesis. Escuela Técnica Superior de Ingenieros Industriales - Universidad Politécnica de Madrid (ETSII-UPM), Madrid, 2014. Cum laude. [BibTeX]
  • An aerial robotic framework to address area coverage in precision agriculture practices. Master's thesis (Trabajo final de master). Escuela Técnica Superior de Ingenieros Industriales - Universidad Politécnica de Madrid (ETSII-UPM), Madrid, 2011. Cum laude. [BibTeX]
  • Autonomous behaviours for an unmanned mini-aerial vehicle, Master's dissertation (Dissertação de mestrado). Faculdade de Ciências e Tecnologia - Universidade Nova de Lisboa (FCT-UNL), Lisbon, 2008. [BibTeX]