Pedro U. Lima

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Programming the behavior of multi-robot systems is a challenging task which has a key role in developing effective systems in many application domains. In this paper, we present Petri Net Plans (PNPs), a language based on Petri Nets (PNs), which allows for intuitive and effective robot and multi-robot behavior design. PNPs are very expressive and support a(More)
Nowadays many urban areas have been equipped with networks of surveillance cameras, which can be used for automatic localization and tracking of people. However, given the large resource demands of imaging sensors in terms of bandwidth and computing power, processing the image streams of all cameras simultaneously might not be feasible. In this paper, we(More)
In this age of modern era, the use of internet must be maximized. Yeah, internet will help us very much not only for important thing but also for daily activities. Many people now, from any level can use internet. The sources of internet connection can also be enjoyed in many places. As one of the benefits is to get the on-line design of intelligent control(More)
Abstraction is a natural way to hierarchically decompse the analysis and design of hybrid systems. Given a hybrid control system and some desired properties, one extracts and abstracted system while preserving the properties of interest. Abstractions of purely discrete systems is a mature area, whereas abstractions of continuous systems is a recent(More)
This article introduces a navigation method for nonholonomic (differential drive) vehicles, based on odometry, regularly reset by a vision-based self-localization algorithm, and endowed with a sonar-based obstacle avoidance and guidance control algorithm that does not rely on path planning. The guidance controller is used in the soccer robots of the RoboCup(More)
This paper introduces Petri net (PN) based models of cooperative robotic tasks, namely those involving the coordination of two or more robots, thus requiring the exchange of synchronisation messages, either using explicit (e.g., wireless) or implicit (e.g., vision-based observation of teammates) communication. In the models, PN places represent primitive(More)
This paper introduces Petri net based models of robotic tasks, which can be used to analyse and synthesise task plans, taking into account a Petri net model that abstracts the relevant features from the robot environment as well. Logical analysis concerning deadlocks and resource conservation can be performed over the ordinary version of the model. A task(More)