Jorge M. Soares

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The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor(More)
Opportunistic wireless sensor networks (WSNs) have recently been proposed as solutions for many remote monitoring problems. Many such problems, including environmental monitoring, involve large deployment scenarios with lower-than-average node density, as well as a long time scale and limited budgets. Traditional approaches designed for conventional(More)
This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired(More)
Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing(More)
Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to coordinate a group of small robots equipped with odor sensors, with the goal of tracing an odor plume to(More)
— A flexible Wireless Sensor Network platform for easier implementation of diverse applications has been developed and deployed at one of the Instituto Superior Técnico-Technical University of Lisbon (IST-TUL) campus. Since its initial deployment in 2007, this test-bed has grown steadily, supporting new nodes, applications and experiments. However, some(More)
The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distributed algorithm for 3-D plume tracking using a system of ground and aerial robots in formation. We(More)
—Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due to the nature of chemical transport and to limitations in sensing and communication. In this paper, we(More)
This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the(More)
Acknowledgements T HIS manuscript has been made possible by a multitude of supporters. I am im-measurably grateful to each of my friends, family and colleagues, in Switzerland and abroad, for continuing to share ideas, aspirations, and laughter, throughout this difficult process. Thank you all. My career is owed to a lifetime of excellent mentors. Jorge(More)