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)
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)
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)
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)
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)