Rui P. Rocha

Learn More
This work presents the implementation of a computational method for Human Movement Analysis based on a notational system by Laban using a Bayesian framework. The research field of computational Human Movement Analysis is lacking a general underlying modeling language. A semantic descriptor allows to pose the classification task as a problem to recognize a(More)
Building cooperatively 3-D maps of unknown environments is one of the application fields of multi-robot systems. This article introduces a distributed architecture, within a probabilistic framework for vision-based 3-D mapping, whereby each robot is committed to cooperate with other robots through information sharing. An entropy-based measure of information(More)
There are several applications for which it is important to both detect and communicate changes in data models. For instance, in some mobile robotics applications (e.g. surveillance) a robot needs to detect significant changes in the environment (e.g. a layout change) which it may achieve by comparing current data provided by its sensors with previously(More)
This article presents a survey on cooperative multi-robot patrolling algorithms, which is a recent field of research. Every strategy proposed in the last decade is distinct and is normally based on operational research methods, simple and classic techniques for agent’s coordination or alternative, and usually more complex, coordination mechanisms like(More)
This paper proposes two extensions of Particle Swarm Optimization (PSO) and Darwinian Particle Swarm Optimization (DPSO), respectively named as RPSO (Robotic PSO) and RDPSO (Robotic DPSO), so as to adapt these promising biological-inspired techniques to the domain of multi-robot systems, by taking into account obstacle avoidance. These novel algorithms are(More)
In this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results(More)
This article presents the full integration of compact educational mobile robotic platforms built around an Arduino controller board in the Robot Operating System (ROS). To decrease the development time, a driver interface in ROS was created so as to provide hardware abstraction and intuitive operation mode, thus allowing researchers to focus essentially in(More)
The ability to detect perceptions which were never experienced before, i.e. novelty detection, is an important component of autonomous robots working in real environments. It is achieved by comparing current data provided by its sensors with a previously known map of the environment. This often constitutes an extremely challenging task due to the large(More)
Polymorphisms of the P2X7 receptor have been associated with increased risk of fractures in postmenopausal women. Although both osteoblasts and osteoclasts express P2X7 receptors, their function in osteogenesis remains controversial. Here, we investigated the role of the P2X7 receptor on osteogenic differentiation and mineralization of bone marrow(More)
This article addresses the problem of efficient multi-robot patrolling in a known environment. The proposed approach assigns regions to each mobile agent. Every region is represented by a subgraph extracted from the topological representation of the global environment. A new algorithm is proposed in order to deal with the local patrolling task assigned for(More)