Scientific Activities and Articles

We are a research group in control and autonomous robotics.
Our Research Topics are:

  • Vision Based Self Localization
  • Data Fusion
  • Real-Time Control
  • Decision and Cooperation

Scientific Documents (papers, theses, etc):

  • 2010

    • "Omnidirectional Mobile Robots Multivariable Trajectory Tracking Control: a robustness analysis"
      T. P. Nascimento, A. G. S. Conceição and A. Paulo Moreira
      9th Portuguese Conference on Automatic Control, Controlo 2010
      pp 63-68, 8-10 September, 2010, Coimbra, Portugal

    • "Non-Linear Model Predictive Controller for Trajectory of an Omni-Directional Robot Using a Simplified Model"
      J. Rodrigo Ferreira and A. Paulo Moreira
      9th Portuguese Conference on Automatic Control, Controlo 2010
      pp 57-62, 8-10 September, 2010, Coimbra, Portugal

  • 2009

    • "Design of a mobile robot for RoboCup Middle Size League"
      A.Paulo Moreira, Paulo Costa, André Scolari Conceição
      LARS 2009 - 6th Latin American Robotics Symposium (LARS)
      Oct. 29-30, 2009, Valparaíso, Chile, Digital Object Identifier: 10.1109/LARS.2009.5418331

    • "Real-time path planning using a modified A* algorithm"
      Pedro Costa, A. Paulo Moreira, Paulo Costa
      ROBOTICA 2009 - 9th Conference on Mobile Robots and Competitions
      pp.141-146, 7th May, 2009, Castelo Branco, Portugal, ISBN 978-972-99143-8-6

    • "A Practical approach of Modeling and Parameters Estimation for OmniDirectional Mobile Robots"
      André Conceição, A. Paulo Moreira, Paulo Costa
      IEEE/ASME Transactions on Mechatronics
      Vol. 14, Nº 3, pp 377-381, June 2009

    • "Modeling and Assessing of Omni-directional Robots with Three and Four Wheels"
      Helder P. Oliveira, Armando J. Sousa, A. Paulo Moreira and Paulo J. Costa
      CONTEMPORARY ROBOTICS - Challenges and Solutions, A D Rodi(Ed.)
      ISBN: 978-953-307-038-4, Publisher: INTECH, Publishing date: December 2009, available from: http://sciyo.com/articles/show/title/modeling-and-assessing-of-omni-directional-robots-with-three-and-four-wheels?PHPSESSID=igdafbub08h352319uu8kt6197

  • 2008

    • "Real-time localization of an omnidirectional mobile robot resorting to odometry and global vision data fusion: an EKF approach"
      José Gonçalves, José Lima, Paulo Costa
      IEEE International Symposium on Industrial Electronics
      Cambridge, July 2008

    • "A A nonlinear model predictive control strategy for trajectory tracking of a four-wheeled omnidirectional mobile robot"
      André Conceição, A. Paulo Moreira, Paulo Costa
      Optimal Control, Applications and Methods, John Wiley & Sons, Ltd. OPTIMAL CONTROL APPLICATIONS AND METHODS
      DOI: 10.1002/oca.827, Volume 29 Issue 5 , Pages 335 - 411 (September/October 2008)

    • "Real-time tracking of an omnidirectional robot - An Extended Kalman Filter approach"
      José Gonçalves, José Lima and Paulo Costa
      International Conference on Informatics in Control, Automation and Robotics
      Funchal, May 2008. Indexed in ISI Proceedings, Inspec e The DBLP Computer Science Bibliography.

    • "Dynamical Models for Omni-Directional Robots with 3 and 4 Wheels"
      Hélder P. Oliveira, Armando J. Sousa, A. Paulo Moreira and Paulo J. Costa
      ICINCO 2008 -International Conference on Informatics in Control, Automation and Robotics
      ISBN: 978-989-8111-31-9.Vol I. pp.189-196. Funchal, Madeira, Portugal. May 11–15, 2008

    • "Precise Modeling of a Four Wheeled Omni-directional Robot"
      Hélder P. Oliveira, Armando J. Sousa, A. Paulo Moreira, Paulo J. Costa
      Encontro Ciêntifico do ROBOTICA2008
      pag. 57-62, Aveiro, Portugal, 2 a 6 de Abril de 2008

  • 2007

    • "Predictive Control Applied to 5DPO – RoboCup Middle-size Omnidireccional Robots"
      André Scolari Conceição, A. Paulo G. M. Moreira, Paulo J. Costa
      ROBÓTICA
      nº 68, pag. 10-14, 3º trimestre de 2007

    • "A Nonlinear Model Predictive Control of an Omni-Directional Mobile Robot"
      André Scolari Conceição, Hélder P. Oliveira, A. Sousa e Silva, Diogo Oliveira, A. Paulo Moreira
      Proceedings of 2007 IEEE International Symposium on Industrial Electronics
      pag. 2161-2165, Centro Cultural and Centro Social Caixanova - Vigo, Spain, June 4-7, 2007

    • "Predictive Control Applied to 5DPO - RoboCup Middle-size Omnidirectional Robots"
      André Conceição, A. Paulo Moreira, Paulo Costa
      Encontro Ciêntifico do ROBOTICA2007
      Paderne, Portugal, 27 a 30 de Abril de 2007

  • 2006

    • "Architecture of Cooperation for Multi-Robot Systems"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa, Luis Paulo Reis
      First IFAC Workshop on Multivehicle Systems (MVS'06)
      Salvador, Bahia, Brasil, 3 a 6 de Outubro, 2006

    • "Identificação do Modelo Dinâmico e Cinemático de um Robô Móvel Omni-Direccional com quatro rodas"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      XVI Congresso Brasileiro de Automática - CBA06
      Salvador, Bahia, Brasil, 3 a 6 de Outubro, 2006

    • "Model's Parameters Experimental Identification of a four Wheeled Omni-Directional Mobile Robot"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      8th International IFAC Symposium on Robot Control - Syroco 06
      Santa Cristina Convent, University of Bologna (Italy), September 6 - 8, 2006

    • "Trajectory tracking for Omni-directional Mobile Robots based on Restrictions of the Motor's Velocities"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      8th International IFAC Symposium on Robot Control - Syroco 06
      Santa Cristina Convent, University of Bologna (Italy), September 6 - 8, 2006

    • "Controller Optimization and Modelling of an omni-directional mobile robot"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      CONTROLO’2006 - The 7th Portuguese Conference on Automatic Control
      11-13 September 2006, Lisbon-Portugal

    • "Model identification of a four wheeled omni-directional Mobile Robot"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      Proceedings of the IEEE International Conference on Emerging Technologies and Factory Automation - ETFA 2005
      19-22 September 2005, Catania, Italy, pp. 227-234

    • "Trajectory control and modelling of an omni-directional mobile robot"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics- ICINCO2006
      Setúbal, Portugal-August 2006, pages: 412-417

    • "Dynamic parameters identification of an omni-directional mobile robot"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics- ICINCO2006
      Setúbal, Portugal-August 2006, pages: 565-570

  • 2005

    • >
    • "Self Localization of an Autonomous Robot: Using an EKF to merge Odometry and Vision based Landmarks"
      Armando Jorge Sousa, Paulo José Costa, António Paulo Moreira, Adriano Silva Carvalho
      Proceedings of the IEEE International Conference on Emerging Technologies and Factory Automation - ETFA 2005
      19-22 September 2005, Catania, Italy, pp. 227-234

    • "Architecture Control and Model Identification of a Omni-Directional Mobile Robot"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      EPIA 2005 - 12th Portuguese Conference on Artificial Intelligence
      University of Beira Interior, Covilhã, Portugal
      December 5-8, 2005

    • "Control and Model Identification of a Mobile Robot's Motors based in Least Squares and Instrumental Variable Methods"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      MMAR 2005 - 11th IEEE International Conference on Methods and Models
      in Automation and Robotics
      Miedzyzdroje - Poland - 29 august - 1 September 2005

    • "Identificação do Modelo Dinâmico e Controlo da Motorização de um Robot Móvel"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      Robotica 2005 - 5º Festival Nacional de Robótica
      Coimbra, Portugal - 29 de Abril a 1 de Maio de 2005

    • "Seguimento de Trajectórias em robots Omni-direccionais com restrições na velocidade dos motores"
      André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa
      Robotica 2005 - 5º Festival Nacional de Robótica
      Coimbra, Portugal - 29 de Abril a 1 de Maio de 2005

  • 2004

    • "Sistema de Localização de Robôs Móveis Baseado em Filtro de Kalman Extendido" (in portuguese) - PDF
      Armando Sousa, Paulo Costa, António Moreira
      L. P. Reis, E. Silva, A. Moreira, J. Almeida e P. Costa Editores,
      Actas do Encontro Científico do Robótica 2004
      (Proceedings of the Scientific Meeting of the Portuguese Robotics Open),
      FEUP Edições, Colecção Colectâneas, Vol. 14, pp.83-88,
      ISBN 972-752-066-9, 23-24 de Abril de 2004

    • "Arquitecturas de Sistemas Robóticos e Localização em Tempo Real Através de Visão" (in portuguese) - PDF (low quality - 3 MB)
      Dissertação de Doutoramento em Engª Electrotécnica e de Computadores (PhD. Thesis),
      Faculdade de Engª da Universidade do Porto, Portugal, 12 Julho 2004

    • "5dpo Robotic Soccer Team for Year 2004" - PDF
      Paulo Costa, António Moreira, Paulo Marques, Armando Sousa, Pedro Costa, Susana Gaio
      Team Description Papers, RoboCup 2004, Lisbon, Portugal, June 27 to July 5, 2004

    • "5dpo-2000 Team Description for Year 2004" - PDF
      António Paulo Moreira, Paulo Costa, Armando Sousa, Luís Paulo Reis
      Team Description Papers, RoboCup 2004, Lisbon, Portugal, June 27 to July 5, 2004

  • 2003

    • "5dpo Robotic Soccer Team for Year 2003" - PDF
      Paulo Costa, Armando Sousa, Paulo Marques, Pedro Costa, Susana Gaio , António Moreira
      Team Descrptions of the RoboCup 2004 Games and Conferences, Padova, Italy, 02/07 - 11/07, 2003

    • "5dpo-2000 Team Description for Year 2003" - PDF
      António Paulo Moreira, Paulo Costa, Armando Sousa, Luís Paulo Reis
      Team Descrptions of the RoboCup 2004 Games and Conferences, Padova, Italy, 02/07 - 11/07, 2003

  • 2002

    • "Variable Resolution Vision System In Mobile Robotics" - PDF - (Slides in PPS format)
      Armando Sousa, Paulo Costa, António Moreira
      Proceedings of the 5th Portuguese Conference on Automatic Control, pp 489-494
      Aveiro, Portugal, September 5-7, 2002

  • 2001

    • "Vision Based Real-Time Localization Of Multiple Mobile Robots" - PDF
      António Moreira, Armando Sousa, Paulo Costa
      3rd Int. Conf. on Field and Service Robotics - June 11-13, 2001 Helsinki, Finland
      pp 103-106

    • 2000 and before

      • "5DPO Team Description" - PDF
        Paulo Costa, António Morerira, Armando Sousa, Paulo Marques, Pedro Costa, Aníbal Matos;
        RoboCup 1999,  31 July-6 August 1999, Stockolm, pp 85-89

      • "5DPO-2000 Team Description" - PDF
        Paulo Costa, António Moreira, Armando Sousa, Paulo Marques, Pedro Costa,
        Aníbal Matos; RoboCup 1999 Stockolm, pp. 217-220

      • "Tracking and Identifying in Real Time the Robots of a F-180 Team" - PDF
        Paulo Costa, Paulo Marques, A.P. Moreira, Armando Sousa and Pedro Costa,
        in Manuela Veloso, Enrico Pagello and Hiroaki Kitano, editors. RoboCup-99: Robot Soccer World Cup III. Springer, LNAI, pp. 286-291, 2000

      • "The Design of a Small-Size (F-180) RoboCup Team" - PDF
        Paulo Costa, A.P.Moreira, Armando Sousa,  - 4rd Portuguese Conf. on Automatic
        Control - CONTROLO' 2000 pp. 598-603, 4-6 de October 2000, Guimarães, Portugal

      • "5dpo Team description - v2000" - Amsterdam Euro RoboCup - PDF
        Paulo Costa, António Moreira, Armando Sousa, Paulo Marques, Pedro Costa

      • "5dpo-2000 Team description - v2000" - Amsterdam Euro RoboCup - PDF
        António Moreira, Paulo Costa, Armando Sousa, Paulo Marques, Pedro Costa

      • "5DPO Team Description" - PDF
        Paulo Costa, António Morerira, Armando Sousa, Paulo Marques, Pedro Costa, Aníbal Matos;
        RoboCup 1999,  31 July-6 August 1999, Stockolm, pp 85-89

      • "Controlo de uma Equipa de Robots Móveis" - (in portuguese) - PDF
        Pedro Costa
        MsC Thesis
        FEUP DEEC1998

      • "5dpo Team Description" - Seattle 2001 RoboCup - .ps.zip PDF
        Paulo Costa, Armando Sousa, Paulo Marques, Pedro Costa, Susana Gaio, António Moreira
        in RoboCup 2001: Robot Soccer World Cup V
        Andreas Birk, Silvia Coradeschi, Stoshi Tadokoro (book editors) -
        ISBN: 3-540-43912-9 - Editor: Springer-Verlag Berlin/Heidelberg New York 2002

      • "Localização em Tempo Real de Múltiplos Robots num Ambiente Dinâmico" (in portuguese) - PDF
        Paulo Costa
        Phd Thesis
        FEUP DEEC 1999

      • "5DPO Team Description"
        Paulo Costa, António Moreira, Armando Sousa, Paulo Marques, Pedro Costa
        RoboCup 1998 Paris, pp 511-517

    Get the free Adobe Acrobat Reader


    Last Updated: 01 February 2006

    E-mail 5dpo the team: robosoc(AT)fe.up.pt



    Personal Tools