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Research

Research and
Knowledge Transfer


GUILLERMO BEJARANO PELLICER

GUILLERMO BEJARANO PELLICER

Category: Researcher
Area of knowledge: Systems and Automatic Enginering
ORCID iD: 0000-0002-2951-8829
Research Unit: Optimization and Control of Distributed Systems
Engineering
Loyola Research Institute for Energy, Technology and Sustainability
PhD in Systems and Sustainable Engineering

Publications

Seville, July 10th, 2026 GuillermoBejarano Pellicer completed his undergraduate studies at the University ofSeville in 2009, achieving the End of Degree Award. Then he was engaged as anassociate researcher from 2009 to 2012 on various R&D projects related tonetworked control systems. He worked within the Automation, Control, andRobotics Research Group (TEP-201), under the guidance of Professor D. FranciscoRodríguez Rubio. Later, he was also engaged in diverse R&D projects onthermal and cooling energy management between 2013 and 2019 under the guidanceof Professor Manuel Gil Ortega Linares. He gained his master’s degree inAutomatic Control, Robotics, and Telematics in 2015, achieving the Special Endof Degree Award. Between 2015 and 2017, he completed the Doctoral Programme inAutomation, Electronics, and Telecommunication at the University of Seville. Hecompleted an international research internship at the Automation and SystemsDepartment, Federal University of Santa Catarina, Florianopolis (Brazil), underthe guidance of Professor Julio Elias Normey-Rico. This research internshipenabled him to achieve the International PhD Mention when he graduated with honoursin 2017, supporting the thesis entitled "Optimization and MultivariableControl of Refrigeration Systems", with which he achieved theExtraordinary Doctorate Award in 2019. In 2018, he completed an internationalpostdoctoral research internship at INESC-ID, Instituto Superior Técnico,University of Lisbon (Portugal). Throughout his research career, he haspublished 20 papers in significant journals, 36 papers at national andinternational conferences, and 2 book chapters, and has received severalawards. He was accredited in 2024 by ANECA as a Full Professor, while in 2024 receivedhis second six-year research period and the R3 Certificate as an EstablishedResearcher. At this moment, he works as an associate professor and researcherat the University Loyola Andalusia. His main focus areas are smart agricultureand control of marine autonomous surface vehicles.

Articles or Reviews

Publications
Experimental Assessment of a Cascaded Path-Following Controller for ASVs Using Extended State Estimation
GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, MOREL OTAZU, THALIA ALICIA, ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO
03/02/2026
Article
Hierarchical sway-leveraging predictive control for path following of underactuated autonomous surface vehicles
BEJARANO PELLICER, GUILLERMO, Gantiva-Osorio M. , MILLÁN GATA, PABLO, Camacho E.F.
01/01/2026
Article
Systematic design of predictive control for autonomous surface vehicles in path following with obstacle avoidance
MANZANO CRESPO, JOSÉ MARÍA, BEJARANO PELLICER, GUILLERMO, SALVADOR ORTIZ, JOSÉ RAMÓN
30/06/2025
Article
Practical identification approach for the actuation dynamics of autonomous surface vehicles with minimal instrumentation
MOREL OTAZU, THALIA ALICIA, ORIHUELA ESPINA, DIEGO LUIS, Combastel C. , BEJARANO PELLICER, GUILLERMO
01/01/2025
Article
Validación de ley de guiado para vehículos autónomos de superficie
GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO
01/01/2025
Article
Energy Management of Refrigeration Systems with Thermal Energy Storage Based on Non-Linear Model Predictive Control
BEJARANO PELLICER, GUILLERMO, Lemos, Joao M. , Rico-Azagra, Javier , Rubio, Francisco R. , Ortega, Manuel G.
01/09/2022
Article
Velocity and Disturbance Robust Nonlinear Estimator for Autonomous Surface Vehicles Equipped With Position Sensors
BEJARANO PELLICER, GUILLERMO, N-YO, SUFIYAN, ORIHUELA ESPINA, DIEGO LUIS
01/09/2022
Article
Nonlinear model predictive control-based guidance law for path following of unmanned surface vehicles
BEJARANO PELLICER, GUILLERMO, MANZANO CRESPO, JOSÉ MARÍA, SALVADOR ORTIZ, JOSÉ RAMÓN, Limon, Daniel
15/08/2022
Article
Optimal control analysis and Practical NMPC applied to refrigeration systems
BEJARANO PELLICER, GUILLERMO, Ortega, M. G. , Normey-Rico, J. E. , Rubio, F. R.
01/12/2020
Article
MINLP-based hybrid strategy for operating mode selection of TES-backed-up refrigeration systems
BEJARANO PELLICER, GUILLERMO, Rodriguez, David , Lemos, Joao M. , Varga, Manuel , Ortega, Manuel G.
01/10/2020
Article
Modelling and cooling power control of a TES-backed-up vapour compression refrigeration system
Rodriguez, David , BEJARANO PELLICER, GUILLERMO, Vargas, Manuel , Lemos, Joao M. , Ortega, Manuel G.
05/01/2020
Article

Conference Paper, Proceedings Paper, Conference Presentation or Abstract

Congresses
Experimental evaluation of backstepping speed control for an autonomous marine vehicle with set-membership extended state observer
GANTIVA OSORIO, MANUEL EDUARDO, MOREL OTAZU, THALIA ALICIA, ORIHUELA ESPINA, DIEGO LUIS, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO
24/02/2025 - 26/02/2025
Ponencia del Congreso
Experimental Validation of a Partially Decoupled Extended Observer for Set-Membership State Estimation on an Autonomous Surface Vehicle
MOREL OTAZU, THALIA ALICIA, GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS, Combastel, Christophe
24/02/2025 - 26/02/2025
Ponencia del Congreso
Propuesta de control coordinado para vehículos autónomos de superficie para la monitorización de recursos hídricos
GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO
22/01/2025 - 24/01/2025
Ponencia del Congreso
Experimental Validation of a Partially Decoupled Extended Observer for Set-Membership State Estimation on an Autonomous Surface Vehicle
MOREL OTAZU, THALIA ALICIA, GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, Millan, Pablo , ORIHUELA ESPINA, DIEGO LUIS, Combastel, Christophe , IEEE
01/01/2025
Proceedings Paper
Experimental evaluation of backstepping speed control for an autonomous marine vehicle with set-membership extended state observer
GANTIVA OSORIO, MANUEL EDUARDO, MOREL OTAZU, THALIA ALICIA, ORIHUELA ESPINA, DIEGO LUIS, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO, IEEE
01/01/2025
Proceedings Paper
Hierarchical Flocking Control Strategy for Underactuated Autonomous Surface Vehicles with Integrated Obstacle Avoidance
Morel, T. , PERALTA SAMANIEGO, FEDERICO, Chen, Y. , BEJARANO PELLICER, GUILLERMO, ORIHUELA ESPINA, DIEGO LUIS
01/01/2025
Conference Paper
Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
GANTIVA OSORIO, MANUEL EDUARDO, MILLÁN GATA, PABLO, BEJARANO PELLICER, GUILLERMO
06/06/2024 - 07/06/2024
Ponencia del Congreso
Modelling and Identification of an Autonomous Surface Vehicle
MOREL OTAZU, THALIA ALICIA, BEJARANO PELLICER, GUILLERMO, ORIHUELA ESPINA, DIEGO LUIS
20/06/2023
Conference Paper
Modelling and Identification of an Autonomous Surface Vehicle
MOREL OTAZU, THALIA ALICIA, ORIHUELA ESPINA, DIEGO LUIS, BEJARANO PELLICER, GUILLERMO
19/06/2023 - 20/06/2023
Abstract de un Congreso
Open-loop validation experiments of non-linear state observers for autonomous surface vehicles
MOREL OTAZU, THALIA ALICIA, BEJARANO PELLICER, GUILLERMO, ORIHUELA ESPINA, DIEGO LUIS
19/04/2023 - 21/04/2023
Ponencia del Congreso
Set-membership state estimation of autonomous surface vehicles with a partially decoupled extended observer
ORIHUELA ESPINA, DIEGO LUIS, Combastel, Christophe , BEJARANO PELLICER, GUILLERMO, IEEE
01/01/2022
Proceedings Paper
Experimental validation of robust non-linear state observers for autonomous surface vehicles equipped with position sensors
MOREL OTAZU, THALIA ALICIA, BEJARANO PELLICER, GUILLERMO, MANZANO CRESPO, JOSÉ MARÍA, ORIHUELA ESPINA, DIEGO LUIS
01/01/2022
Conference Paper
Nonlinear model predictive control applied to robust guidance of autonomous surface vehicles
MANZANO CRESPO, JOSÉ MARÍA, SALVADOR ORTIZ, JOSÉ RAMÓN, BEJARANO PELLICER, GUILLERMO, Limon D.
01/01/2021
Conference Paper
Velocity Estimation and Robust Non-linear Path Following Control of Autonomous Surface Vehicles
BEJARANO PELLICER, GUILLERMO, N-YO, SUFIYAN
01/01/2020
Proceedings Paper
Gestión energética de un ciclo de refrigeración con almacenamiento de energía
BEJARANO PELLICER, GUILLERMO, Lemos, João M. , ORTEGA LINARES, MANUEL GIL , RODRIGUEZ RUBIO, FRANCISCO
04/09/2019
Ponencia del Congreso

Book chapters and books

Book chapters and books
Unmanned Underactuated Surface Vehicle Formation Control Using Deep Reinforcement Learning
01/01/2026
Capítulo de un Libro
From Concept to Control: Development of an Advanced ASV Platform for Testing
01/01/2026
Capítulo de un Libro
Unmanned Underactuated Surface Vehicle Formation Control using Deep Reinforcement Learning
25/12/2025
Capítulo de un Libro
From Concept to Control: Development of an Advanced ASV Platform for Testing
25/12/2025
Capítulo de un Libro

Research projects

Projects
Control Inteligente de Flotas Heterogéneas de Vehículos Autónomos para la Detección, Seguimiento y Contención de Contaminantes en Recursos Hídricos
Project
01/09/2025
Amount: 152625 €
Principal Investigator: PABLO MILLÁN GATA
CO IP: GUILLERMO BEJARANO PELLICER
Sistema de Limpieza de Residuos en Entornos Portuarios mediante Flota de Vehículos Autónomos de Superficie
Project
01/12/2022
Amount: 89010 €
Principal Investigator: PABLO MILLÁN GATA
CO IP: GUILLERMO BEJARANO PELLICER
Control Avanzado de Flotas de Vehículos Acuáticos No Tripulados para la Monitorización de Masas de Agua Superficiales
Project
01/09/2022
Amount: 74052 €
Principal Investigator: PABLO MILLÁN GATA
Aproximación a mercado de algoritmos inteligentes de monitorización distribuidos para agricultura
01/12/2021
Amount: 126500 €
CO IP: PABLO MILLÁN GATA
Hacia la Monitorización Espacio-TempoRal en sIstemas Ciberfísicos cAmbiantes
Project
01/09/2021
Amount: 71269 €
CO IP: MANUEL CEBALLOS GONZÁLEZ
SIstema de Riego automático, Robusto, efIciente y sostenible aplicando tecnología biG dAta e inTErnet de las cosas
Project
29/04/2021
Amount: 150938.09 €
Principal Investigator: PABLO MILLÁN GATA
Despliegue y Control de una Red Inteligente de VehículosAutónomos Acuáticos para la Monitorización de Recursos HídricosAndaluces
Project
01/01/2020
Amount: 184100 €
Principal Investigator: ISABEL JURADO FLORES
SISTEMA DE MONITORIZACIÓN DE AGENTES CONTAMINANTES EN EL LAGO YPACARAÍ (PARAGUAY), MEDIANTE EL USO DE VEHÍCULOS ACUÁTICOS NO TRIPULADOS DE SUPERFICIE
Project
01/04/2019
Amount: 17500 €
Principal Investigator: PABLO MILLÁN GATA

External research projects

External Projects
Desarrollo de sistemas de almacenamiento para generación directa de vapor (THESTO)
Project start date: 01/05/2012