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(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)
In this paper we propose a dynamic control architecture , completely implemented as a non-linear dy-namical system, that controls the behavior of an autonomous robot that must transport a large size object in cooperation with a human. Experimental results in indoor environments show that if the parameter values are chosen within certain reasonable ranges(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)
We present a distributed leader-helper architecture for teams of two autonomous mobile robots that jointly transport large payloads while avoiding collisions with obstacles (either static or dynamic). The leader navigates to the goal destination and the helper is responsible for maintaining an appropriate distance (which is a function of the object's(More)