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In this paper we are proposing an approach for coordinating a team of homogeneous agents based on a flexible common Team Strategy as well as on the concepts of Situation Based Strategic Positioning and Dynamic Positioning and Role Exchange. We also introduce an Agent Architecture including a specific high-level decision module capable of implementing this(More)
Machine Learning (ML) and Knowledge Discovery (KD) are research areas with several different applications but that share a common objective of acquiring more and new information from data. This paper presents an application of several ML techniques in the identification of the opponent team and also on the classification of robotic soccer formations in the(More)
This article focuses on evaluating the usability of an intelligent wheelchair (IW) in both real and simulated environments. The wheelchair is controlled at a high-level by a flexible multimodal interface, using voice commands, facial expressions, head movements and joystick as its main inputs. A quasi-experimental design was applied including a(More)
Biped walking by using all joint movements and DOFs in both directions (sagittal plane and coronal plane) is one of the most complicated research topics in robotics. In this paper, angular trajectories of a stable biped walking for a humanoid robot are generated by a Truncated Fourier Series (TFS) approach. The movements of legs and arms in sagittal plane(More)
Many episode-based (or direct) policy search algorithms, maintain a multivariate Gaussian distribution as search distribution over the parameter space of some objective function. One class of algorithms, such as episodic REPS, PoWER or PI2 uses, a weighted maximum likelihood estimate (WMLE) to update the mean and covariance matrix of this distribution in(More)
Controlling a biped robot with several degrees of freedom is a challenging task that takes the attention of several researchers in the fields of biology, physics, electronics, computer science and mechanics. For a humanoid robot to perform in complex environments, fast, stable and adaptable behaviors are required. Developing robust behaviors requires the(More)
This paper presents the architecture and algorithms developed for Dom Dinis, a simple compass-guided robot built by the authors. This includes environment exploration, task planning and task execution. Environment exploration, based on repeating a reactive goal search, enables a progressive construction of a grid-based map. Based on the (possibly(More)