Sergio Monteiro

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In this paper we focus on modelling formations of non-holonomic mobile robots using non-linear attractor dynamics (see video). The benefit is that the behavior of each robot is generated by time series of asymptotically stable states which therefore contribute to the robustness against environmental perturbations. This study extends our previous work [10].(More)
In this paper we show how non–linear attractor dynamics can be used as a framework to control teams of autonomous mobile robots that should navigate according to a predefined geometric formation. The environment does not need to be known a priori and may change over time. Implicit to the control architecture are some important features such as establishing(More)
Dynamical systems theory is used here as a theoretical language and tool to design a distributed control archictecture that generates navigation in formation, integrated with obstacle avoidance, for a team of three autonomous robots. In this approach the level of modeling is at the level of behaviors. A “dynamics” of behavior is defined over a state space(More)
1 Neurochemisches Labor, Universität Göttingen, Göttingen, Germany 2 Department of Neuroimmunology, The National Hospital, London, UK 3 Specialty Laboratories, Santa Monica, California, USA 4 Laboratorio Analisi, Istituto Nationale Neurologico “C. Besta”, Milano, Italy 5 Laboratory of Reference of CSF & Neuroimmunology, Homolka Hospital, Praha, Czech(More)
We show how non-linear attractor dynamics can be used to implement robot formations in unknown environments. The desired formation geometry is given through a matrix where the parameters in each line (its leader, desired distance and relative orientation to the leader) define the desired pose of a robot in the formation. The parameter values are then used(More)
In this paper we focus on the problem of assigning robots to places in a desired formation, considering random initial locations of the robots. Since we use a leader-follower strategy, we also address the task of choosing the leader to each follower. The result is a formation matrix that describes the relation between the robots and the desired formation(More)
A review of current scientific and technological problems encountered in building and programming middle size soccer robots is made in this paper. Solutions and solution trends to the problems, as presented by different teams, are also examined. Perceptual systems of individual robots, in particular with respect to object location, communications between(More)
STUDY BACKGROUND Reduction of added salt levels in soups is recommended. We evaluated the impact of a 30% reduction of usual added salt in vegetable soups on elderly and children's saltiness and liking evaluation. METHODS Subjects were elderly and recruited from two public nursing homes (29 older adults, 79.7±8.9 years), and preschool children recruited(More)
The fibers extracted from the sugarcane bagasse have been investigated as possible reinforcement for polymer matrix composites. The use of these composites in engineering applications, associated with conditions such as ballistic armor, requires information on the impact toughness. In the present work, Charpy tests were performed in ASTM standard specimens(More)
In this paper, we show how a team of autonomous mobile robots, which drive in formation, can be endowed with basic cognitive capabilities. The formation control relies on the leader-follower strategy, with three main pair-wise configurations: column, line and oblique. Furthermore, non-linear attractor dynamics are used to generate basic robotic behaviors(More)