Publications - ISocRob

Papers

Year 2012

Hugo Costelha, Pedro Lima, Robot task plan representation by Petri nets: modelling, identification, analysis and execution Autonomous Robots, 2012, DOI 10.1007/s10514-012-9288-x, 2012

Year 2011

V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara "Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems", Journal of Autonomous Agents and Multi-Agent Systems, Vol. 23, No. 3, pp. 344-383, 2011

A. Ahma, P. U. Lima "Multi-Robot Cooperative Object Tracking Based on Particle Filters" Proc. of ECMR 2011 - European Conference on Mobile Robots, Orebro, Sweden, 2011

Year 2010

H. Costelha, P. Lima "Petri Net Robotic Task Plan Representation: Modelling, Analysis and Execution", chapter in "Autonomous Agents", Edited by Vedran Kordic, INTECH, Austria

M. Taiana, J. Santos, J. Gaspar, J. Nascimento, A. Bernardino, P. Lima "Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape" Robotics and Autonomous Systems, special issue on Omnidirectional Robot Vision, Vol. 58, Issue 6, 30 June, pp. 784-795, 2010

J. Messias, M. Spaan, P. Lima "Multi-robot planning under uncertainty with communication: a case study", AAMAS 2010 Workshop on Multi-Agent Sequential Decision Making in Uncertain Domains, Toronto, Canada, 2010

P. Lima, J. Santos, P. Santos, R. Oliveira, A. Ahmad "Cooperative Localization Based on Visually Shared Objects, Proc. of RoboCup2010 Symposium, Singapore, 2010

Year 2009

J. Santos, Pedro Lima "Multi-Robot Cooperative Object Localization - Decentralized Bayesian Approach", Proc. of RoboCup2009 Symposium, Graz, Austria, 2009

Palamara, P. F., Ziparo, V., Iocchi, L., Nardi, D., Lima, P. "Implementation of Joint Commitment Theory through Petri Nets" RoboCup2008: Robot Soccer World Cup XII, Springer Verlag, Berlin

Year 2008

J. Messias, J. Santos, J. Antunes, Pedro Lima "Monte Carlo Localization Based on Gyrodometry and Line-Detection", Proc. of ROBOTICA2008, - 8th Conference on Mobile Robots and Competitions, Aveiro, Portugal, 2008

Matteo Taiana, Joao Santos, Jose Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima "Color 3D Model-Based Tracking with Arbitrary Projection Models", Proc. of Proc. of SIMPAR 2008 - International Conference on Simulation, Modeling and Programming for Autonomous Robots, Workshop on Omnidirectional Robot Vision, Venice, Italy, 2008

Nuno Lopes, Pedro Lima, "OpenSDK - An Open-source Implementation of OPEN-R", Proc. of AAMAS 2008 - 7th International Joint Conference on Autonomous Agents and Multi-Agent Systems, Estoril, Portugal, 2008

Hugo Costelha, Pedro Lima "Modelling, Analysis and Execution of Multi-Robot Tasks using Petri Nets", Proc. of AAMAS 2008 - 7th International Joint Conference on Autonomous Agents and Multi-Agent Systems, Estoril, Portugal, 2008

V. Ziparo, L. Iocchi, P. Palamara, D. Nardi, Hugo Costelha "PNP: A Formal Model for Representation and Execution of Multi-Robot Plans", Proc. of AAMAS 2008 - 7th International Joint Conference on Autonomous Agents and Multi-Agent Systems, Estoril, Portugal, 2008

P. F. Palamara, V. A. Ziparo, L. Iocchi, D. Nardi, Pedro Lima "Teamwork Design Based on Petri Net Plans", Proc. of RoboCup International Symposium 2008, Suzhou, China, 2008

Year 2007

Marco Barbosa, Nelson Ramos, Pedro Lima, "Mermaid - Multiple-Robot Middleware for Intelligent Decision-Making", Proc, of IAV2007 - 6th IFAC Symposium on Intelligent Autonomous Vehicles, Toulouse, France, 2007

Nelson Ramos, Marco Barbosa, Pedro Lima, "Multi-Robot Systems Middleware Applied to Soccer Robots", Proc. ROBOTICA 2007 - 7th Portuguese Robotics Festival, Paderne, Portugal, 2007

Matteo Tajana, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima "3D tracking by Catadioptric Vision Based on Particle Filters", Proc. RoboCup2007 Symposium, Atlanta, GA, USA

Year 2006

Lima P., Custódio L., "Multi-Robot Systems", Chapter I of Innovations in Robot Mobility and Control, S. Patnaik, S. Tzafestas (Eds.). Springer Verlag, Berlin, 2006

D. Cabecinhas, J. Ferreira, P. Rosa, Pedro Lima, "Self-Localization Based on Kalman Filter and Monte Carlo Fusion of Odometry and Visual Information", Robotica, No. 65, 2006

Nelson Ramos, Pedro Lima, J. M. Sousa, "Robot Behavior Coordination Based on Fuzzy Decision-Making", Proc. ROBOTICA 2006 - 6th Portuguese Robotics Festival, Guimarães, Portugal, 2006 [pdf]

Year 2005

B. Van der Vecht, Pedro Lima, "Formulation and Implementation of Relational Behaviours for Multi-Robot Cooperative Systems", RoboCup-2004: Robot Soccer World Cup VIII, Springer Verlag, Berlin, 2005

Lima P., Custódio L., "The SocRob Project: Soccer Robots or Society of Robots", in Cutting Edge Robotics, Kordic, Lazinica, Merdan (Eds.), ARS pro litaratur Verlag, Croatia, 2005

Lima P., Custódio L., Akin l., Jacoff A., Kraezschmar G., Kiat Ng B., Obst O., Rvfer T., Takahashi Y., Zhou C., "RoboCup 2004 Competitions and Symposium: A Small Kick for Robots, a Giant Score for Science", AI-Magazine, Vol. 6, No. 2, Summer 2005, 2005. [pdf]

Gonçalo Neto, Pedro Lima, "Minimax Value Iteration applied to Robotic Soccer", IEEE ICRA 2005 Workshop on Cooperative Robotics, Barcelona, April, 2005 [pdf]

Year 2004

Carlos Marques, Pedro Lima "Multi-Sensor Navigation for Non-Holonomic Robots in Cluttered Environments", IEEE Robotics and Automation Magazine, Vol. 11, No. 3, 2004

Pedro Lima, Luis Custódio "Artificial Intelligence and Systems Theory Applied to Cooperative Robots", International Journal of Advanced Robotic Systems, No. 3, Sep 2004. [pdf]

Bob van der Vecht, Pedro Lima "Formulation and Implementation of Relational Behaviours for Multi-Robot Cooperative Systems", RoboCup 2004 International Symposium, Lisboa, Portugal. [pdf]

Bruno Damas, Pedro Lima "Stochastic Discrete Event Model of a Multi-Robot Team Playing an Adversarial Game", 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles - IAV2004, Lisboa, Portugal [pdf]

Vasco Pires, Miguel Arroz, Luis Custódio, "Logic Based Hybrid Decision System for a Multi-robot Team", 8th Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands, 2004. [pdf]

Pedro Pinheiro, Pedro Lima, "Bayesian Sensor Fusion for Cooperative Object Localization and World Modeling", 8th Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands, 2004. [pdf]

Year 2003

Hans Lausen, Jakob Nielsen, Michael Nielsen, Pedro Lima, "Model and Behavior-Based Robotic Goalkeeper", RoboCup 2003 International Symposium, Padova, Italy, 2003. [pdf]

Carla Penedo, João Pavão, Pedro Nunes, and Luis Custódio, "RoboCup Advanced 3D Monitor", RoboCup 2003 International Symposium, Padova, Italy, 2003. [pdf]

Gonçalo Neto, Hugo Costelha, Pedro Lima, "Topological Navigation in Configuration Space Applied to Soccer Robots", RoboCup 2003 International Symposium, Padova, Italy, 2003. [pdf]

Pedro Marcelino, Pedro Nunes, Pedro Lima, M. Isabel Ribeiro, "Improving object localization through sensor fusion applied to soccer robots", Actas do Encontro Cientifico do Robotica 2003 - Festival Nacional de Robotica, 2003. [pdf]

Carla Penedo, João Pavão, Pedro Lima, M. Isabel Ribeiro, "Markov localization in the Robocup simulation league", Actas do Encontro Cientifico do Robotica 2003 - Festival Nacional de Robotica, 2003. [pdf]

Miguel Arroz, Vasco Pires, Luis Custódio, "Logic based Distribution Decision System for a Multi-Robot Team", Actas do Encontro Cientifico do Robotica 2003 - Festival Nacional de Robotica, 2003. [pdf]

Year 2002

"Multi-Sensor Navigation for Soccer Robots", C. Marques, P. Lima, RoboCup 2001 Book, Springer-Verlag, Berlin, July 2002 zipped ps file

"A Modified Potencial Fields Method for Robot Navigation Applied to Dribbling in Robotic Soccer", Bruno D. Damas, Pedro U. Lima, and Luis M. Custódio, Proc. of the RoboCup 2002 Symposium, Fukuoka, Japan (14 Pages) ps file (304 Kbytes)

"Navegação Entre Obstáculos Usando Um Método De Campos De Potencial Modificados", Bruno D. Damas, Pedro U. Lima, and Luis M. Custódio, Prof. of the Robótica 2002 Portuguese Scientific Meeting, Aveiro, Portugal (5 Pages) MS Word file (131 Kbytes)

"Artificial Intelligence and Systems Theory Applied to Cooperative Robots: the SocRob Project", Pedro U. Lima, and Luis M. Custódio, Prof. of the Robótica 2002 Portuguese Scientific Meeting, Aveiro, Portugal (9 Pages) pdf file (127 Kbytes)

Year 2001

"Multi-Sensor Navigation for Soccer Robots", Carlos Marques, Pedro Lima, Proc. of the RoboCup 2001 Symposium, Seattle, USA (10 Pages) gzipped ps file (183 Kbytes)

"Omni-Directional Catadioptric Vision for Soccer Robots", Pedro Lima, Andrea Bonarini, Carlos Machado, Fabio Marchese, Carlos Marques, Fernando Ribeiro, Domenico Sorrenti. To appear in special issue on the EuroRoboCup of the Jornal of Robotics and Autonomous Systems, Elsevier, Amesterdam, gzipped ps file (1 Mbytes)

"RoboCup-2000: The Fourth Robotic Soccer World Championships", Minoru Asada, Tucker Balch, Raffaelo D'Andrea, Masahiro Fujita, Bernhard Hengst, Gerhald Kraetzschmar, Pedro Lima, Nuno Lau, Henrik Lund, Daniel Polani, Paul Scerri, Satoshi Tadakoro, Thilo Weigel, Gordon Wyeth, AI-Magazine, Vol. 22, No. 1, Spring 2001 (29 pags) gzipped ps file (5.3 Mbytes)

Year 2000

"A Localization Method for a Soccer Robot Using a Vision-Based Omni-Directional Sensor", C. Marques, P. Lima, RoboCup 2000 Book, Springer-Verlag, Berlin, 2001 (12 pags) gzipped ps file (360 Kbytes)

"Vision-Based Self-Localization for Soccer Robots", Carlos Marques, Pedro Lima, in Proceedings of IROS 2000, Takamatsu, Japan (6 pags), -- gzipped ps file (388 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

"A Localization Method for a Soccer Robot Using a Vision-Based Omni-Directional Sensor", Carlos Marques, Pedro Lima, in Proceedings of EuRoboCup Workshop 2000, Amsterdam, The Netherlands (co-winner of the Scientific Challenge Award of the RoboCup 2000 Workshop). The award distinguished 2 of the 20 papers presented at the workshop, out of 60 submitted.) (10 pags), -- gzipped ps file (514 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

Year 1999

"A Functional Architecture for a Team of Fully Autonomous Cooperative Robots", Pedro Lima, Rodrigo Ventura, Pedro Aparício, Luis Custódio, in RoboCup-99: Robot Soccer World Cup III, Springer-Verlag, Berlin, 1999 -- gzipped ps file (102 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

"Autonomous Distributed Control of a Population of Cooperative Robots", Pedro Aparício, Pedro Lima Proc. of SIRS 99 (10 pages) -- gzipped postscript file (190 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

"A Functional Architecture for a Team of Fully Autonomous Cooperative Robots", Pedro Lima, Rodrigo Ventura, Pedro Aparício, Luis Custódio. Proc. of RoboCup Workshop of IJCAI 99 (6 pages) -- gzipped postscript file (88 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

Year 1998

"SocRob - A Society of Cooperative Mobile Robots", Rodrigo Ventura, Pedro Aparício, Pedro Lima, Carlos Pinto-Ferreira. Proc. of 1998 IEEE International Conference on Systems, Man, and Cybernetics. (6 pages) -- gzipped postscript file (393 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

Theses and Project Reports

[MSc THESIS (Post-Bologna)] "Task Specific Motion Control of Omnidirectional Robots", pdf file Joao Messias, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2008

[MSc THESIS (Post-Bologna)] "Multi-Robot Cooperative Object Localization - a Decentralized Bayesian Approach", pdf file Adobe PDF

Joao Santos, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2008

[MSc THESIS (Post-Bologna)] "Gestao de um Sistema Multi-Robot Baseado em Comportamentos", Artur Prego, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2008

[MSc THESIS (Post-Bologna)] "Arquitectura de Comportamentos para Equipa Multi-Robot com Coordenacao por Arbitragem", Nelson Ramos, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2007

[MSc THESIS (Post-Bologna)] "Development Environment for a Multi-Robot Team", Marco Barbosa, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2007

[MSc THESIS (Post-Bologna)] "Comportamentos Relacionais em Futebol Robotico - Analise Qualitativa", Tiago Antunes, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2006

[MSc THESIS (Post-Bologna)] "Comportamentos Relacionais em Futebol Robotico - Analise Quantitativa", Joao Torres, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2006

[MSc THESIS] "Sistema de Decisão Distribuído Baseado em Lógica para uma Equipa Multi-Robot", Vasco Pires, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2005

[MSc THESIS] "Multi-sensor Navigation for Soccer Robots", Carlos Marques, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2001 zipped postscript file (2.4 Mbytes)

[MSc THESIS] "Design and Implementation of a Population of Cooperative Autonomous Robots", Pedro Aparício, MSc. Thesis, Instituto Superior Técnico, 1049-001 Lisboa, 2000 gzipped postscript file (600 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt)

[Final Year Project Report] "Comportamentos Relacionais para Robots Futebolistas - 4LL", Vasco d'Orey, TFC LEIC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2005 pdf file (1 Mbytes)

[Final Year Project Report] "Comportamentos Relacionais para Robots Futebolistas - MSL", João Milhinhos, Gonçalo Mouro Vaz, TFC LEIC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2005 pdf file (1 Mbytes)

[Final Year Project Report] "Guarda Redes Robótico Omnidireccional", Catarina Esteves, Sérgio Lopes, TFC LEEC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2005 pdf file (1.3 Mbytes)

[Final Year Project Report] "Controlo de Formações de Robots Movimentando-se num Plano", Paulo Gomes, TFC LEEC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2004 pdf file (1 Mbytes)

[Final Year Project Report] "Behaviour Coordination for Cooperative Multi-Robot Systems", Bob van der Vecht, TFC 1154249 Artificial Intelligence/U. Groningen, Groningen, The Netherlands, 2004 pdf file (0.5 Mbytes)

[Final Year Project Report] "Sistema de Projecto e Controlo de Missão de uma Equipa de Robots Cooperantes", Bruno Machado, Cláudio Cardoso, TFC LEIC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2001 pdf file (1.2 Mbytes)

[Final Year Project Report] "Navegação Topológica para Futebol Robótico", Gonçalo Neto, Hugo Costelha TFC LEEC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2001 pdf file (4.18 Mbytes)

[Final Year Project Report] "SocRob Goalkeeper", Hans Lausen, Jakob Nielsen, Michael Nielsen, ISR/IST and Dept. of Control Engineering, IES, Aalborg University, Denmark pdf file (2.01 Mbytes)

[Final Year Project Report] "Desenvolvimento de Modelos de Cooperação para uma Sociedade de Agentes", Luis Toscano, TFC LEEC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2001 pdf file (1.195 Mbytes)

[Final Year Project Report] "Desenvolvimento e Implementação de Algoritmos de Localização e Planeamento de Trajectórias para uma População de Robots Futebolistas", Filipe Neves, Ricardo Silva, Rodrigo Almeida, TFC LEEC, DEEC/Instituto Superior Técnico, 1049-001 Lisboa, 2000

[Coursework Project Report] "Robot Guarda-Redes", Carlos Sá, Ricardo Silva, José Batista, Projecto de PIV, DEEC/Instituto Superior Técnico, 1049-001 - Lisboa, 2000 -- zipped MS-Word File (2.1 Mbytes)

Technical Reports

[TDP-MSL2009]"ISocRob-MSL 2009 Team Description Paper", Pedro Lima, João Santos, João Estilita, Marco Barbosa, Aamir Ahmad, João Carreira (8 Pages) pdf file

[TDP-4LL2007]"SPQR + ISocRob RoboCup 2007 Qualification Report", L. Iocchi, L. Marchetti, D. Nardi, P. U. Lima, Marco Barbosa, Hugo Pereira, Nuno Lopes (6 Pages) pdf file (150 Kbytes)

[TDP-MSL2007]"ISocRob-MSL 2007 Team Description Paper", Hugo Costelha, Nelson Ramos, João Estilita, João Santos, Matteo Tajana, João Torres, Tiago Antunes, Pedro Lima (8 Pages) pdf file (333 Kbytes)

[TDP-4LL2006]"ISocRob-4LL 2006 Team Description Paper", Pedro Lima, Marco Barbosa, João Esteves, Nuno Lopes, Vasco d'Orey, Hugo Pereira (5 Pages) pdf file (165 Kbytes)

[TDP-MSL2006]"ISocRob 2006 Team Description Paper", Pedro Lima, Hugo Costelha, João Estilita, Nelson Martins, Gonçalo Neto, João Santos (6 Pages) pdf file (181 Kbytes)

[TDP-2004]"ISocRob 2004 Team Description Paper", Pedro Lima, Luis Custódio, Pedro Marcelino, Hugo Costelha, Gonçalo Neto, Vasco Pires, Miguel Arroz, Bob Vecht (12 Pages) pdf file (821 Kbytes)

[TDP-2003]"ISocRob 2003 Team Description Paper", Pedro Lima, Luis Custódio, Miguel Arroz, Hugo Costelha, Bruno Damas, Cláudio Gil, Gonçalo Neto, Pedro Pinheiro, Vasco Pires (11 Pages) pdf file (14.5 Mbytes)

[TDP-2001]"ISocRob 2001 Team Description", Pedro Lima, Custódio, Bruno Damas, Manuel Lopes, Carlos Marques, Luis Toscano (4 Pages) gzipped ps file (130 Kbytes)

[TDP-2000] "ISocRob'2000: A Multi-Sensor Self-Localized Cooperative Robotic Team", Pedro Lima, Luis Custódio, Rodrigo Ventura, Carlos Marques, Luis Toscano, Team description Paper for EuRoboCup and RoboCup2000 (4 pags), -- gzipped ps file (35 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

"ISocRob-2000: Technical Report", Rodrigo Ventura, Filipe Toscano, Carlos Marques, Luís Custódio, Pedro Lima, RT-701-00, RT-402-00, October 2000. (24 pages) -- gzipped ps file (135 Kbytes).

[TDP-1999] "ISocRob - Intelligent Society of Robots", Rodrigo Ventura, Pedro Aparício, Carlos Marques, Pedro Lima, Luis Custódio, in RoboCup-99: Robot Soccer World Cup III - Team Description Paper, Springer-Verlag, Berlin, 1999 -- gzipped ps file (44 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

[also Final Year Project Report] "Interface Gráfica para Operação de Robots Cooperantes", Bruno Correia, Sérgio Saraiva, Rodrigo Ventura, Pedro Lima. ISR Internal Report RT-407-99, September 1999 (155 pages) -- zipped word file (529 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt).

"RoboCup98 ISocRob Team Technical Reference", Rodrigo Ventura, Pedro Aparício, Pedro Lima. ISR Internal Report RT-702-99 and RT-404-99 July 1999 (12 pages) -- gzipped postscript file (91 Kbytes), also available by anonymous ftp (lci.isr.ist.utl.pt). Download also cover with abstract.

"Agent-Based Programming Language for Multi-Agent Teams", Rodrigo Ventura, Pedro Aparício, Pedro Lima. ISR Internal Report RT-701-99, RT-401-99 (16 pages) -- gzip postscript file (80 Kbytes) March 1999

[TDP-1998] "ISocRob - Team Description", Pedro Aparício, Rodrigo Ventura, Pedro Lima, Carlos Pinto-Ferreira. In Minoru Asada and Hiroaki Kitano, editors, RoboCup-98: Robot Soccer World Cup II , Springer-Verlag, Berlin, 1999

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