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(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)
— 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)
  • N Thèse, William Christopher Evans, Di Mario, Amanda Prorok, Maria Boberg, Milos Vasic +33 others
  • 2015
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)
Taking distributed robotic system research from simulation to the real world often requires the use of small robots that can be deployed and managed in large numbers. This has led to the development of a multitude of these devices, deployed in the thousands by researchers worldwide. This paper looks at the Khepera IV mobile robot, the latest iteration of(More)
There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios , of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positioning and formation control becomes mandatory in many of the missions envisioned, which require the(More)
A flexible Wireless Sensor Network platform for implementation of diverse applications has been developed and deployed at Instituto Superior Técnico-Technical University of Lisbon (IST-TUL). Since its initial deployment in 2007, this testbed has grown steadily, supporting new nodes, applications and experiments. However, some initial problems, which were(More)
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