Lisboa
Institute for Systems and Robotics
Portugal
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Pedro Manuel Urbano Almeida Lima
Lab: IRSGroup - Intelligent Robot and Systems Group
Position: Associate Professor (IST)
Degree: PhD
Email: pal ( @ ) isr.ist.utl.pt
Phone: +351-218418274
Keywords: hybrid systems, discrete event systems, reinforcement learning, complex large-scale systems, multi-robot systems
Observations: Office: 6.18

Personal page: http://www.isr.ist.utl.pt/~pal

Current projects

AcronymNameFundingDates
RoCKIn Robot Competitions Kick Innovation in Cognitive Systems and Robotics EU-FP7 Jan 2013 - Dec 2015
MonarCH Multi-Robot Cognitive Systems Operating in Hospitals EU-FP7 Feb 2013 - Jan 2016
SocRob Society of Cooperative Robots FCT 1997 - On-going

Closed projects

AcronymNameFundingDates
ERNET The European Robotics Network Dec. 1993 - Nov. 1996
QuadMission Desenvolvimento de um Sistema Automático e Inteligente para Aeronave Não Tripulada - Plataforma QuadCopter U4 QREN 2010 - 2012
Formation Estimation Methodologies for Distributed Spacecraft ESA 2003-2007
High Resolution Optical Satellite Sensors EUCLID 2003-2005
RODITAS III Robô Didáctico para Técnicos de Automação de Sistemas 2001-2002
Development of Small Flexible Mobile Robots 1995-1999
Open Distributed Control Architecture for a PUMA 560 Manipulator 1994-2000
DecPUCS Decentralized Planning Under Uncertainty for Cooperative Systems FCT Oct. 2007 - Sep. 2010
Guidance and Navigation Systems for ITER RH Air Cushion Transport Casks EURATOM Oct. 1997 - Jan. 1998
ITER ATS Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up EU - F4E Mar. 2009 - Jun. 2010
PCMMC Perception-Driven Coordinated Multi-Robot Motion Control FCT Jan. 2010 - Fev. 2013
Teleoperation of Transport Vehicles and Robotic Manipulators EURATOM Jan. 1997 - Jan. 1998
BioInstBots From Bio-Inspired to Institutional-Inspired Collective Robotics FCT Feb. 2010 - Jan. 2013
URUS Ubiquitous Networking Robotics in Urban Settings EU-FP6 Dec. 2006 - Nov. 2009
EURON European Robotics Network Dec. 2003 - Nov. 2008
Conceptual Study of a Flexible Guidance and Docking System for ITER RH Transport Casks EURATOM Dec. 1996 - Jun. 1997
ITER Trajectories Optimization of Trajectories for the Cask and Plug Remote Handling System in Tokamak Building and Hot Cell EU F4E Apr. 2011 - Dec. 2011
RAPOSA Robot Semi-Autónomo para Operações de Salvamento AdI 2003-2005
MultiBot Modelos e Tecnicas para Robots Móveis Inteligentes Aplicados a Tarefas Individuais e Cooperativas 2003 - 2006
RESCUE Cooperative Navigation for Rescue Robots FCT 2000-2004
ConSat Stabilization and Control of Small Satellites FCT 1997-2000
Autonomous Robotic Methodologies for Multidisciplinary Applications FCT 1995-2000

Publications
Journal papers

[1] 3D to 2D Bijection for Spherical Objects Under Equidistant Fisheye Projection, Aamir Ahmad, João Xavier, José Santos-Victor, Pedro Lima, Computer Vision and Image Understanding (CVIU), Elsevier, Accepted for publication, 2014 – PDF

[2] Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems, José N. Pereira, Porfírio Silva, Pedro Lima, A. Martinoli, Artificial Life Journal, Vol. 20, No 1, pp. 127-141, 2014

[3] Using Reinforcement Learning to Optimize Occupant Comfort and Energy Usage in HVAC Systems, Pedro Fazenda, K. Veeramachaneni, Pedro Lima, U.-M. O’Reilly, accepted, Journal of Ambient Intelligence and Smart Environments (JAISE), 2014

[4] On the Notion of Uncontrollable Marking in Supervisory Control of Petri Nets , Bruno Lacerda, Pedro Lima, accepted, IEEE Transactions on Automatic Control , 2014

[5] Formation Control Driven by Cooperative Object Tracking, Pedro Lima, Aamir Ahmad, A. Dias, A. Conceição, A. Moreira, E. Silva, L. Almeida, L. Oliveira, T. Nascimento, accepted for publication in the Elsevier Journal of Robotics and Autonomous Systems, 2014

[6] To err is robotic, to tolerate immunological: fault detection in multirobot systems, Danesh Tarapore, Pedro Lima, J. Carneiro, A. Christensen, acepted for publication in Bioinspiration & Biomimetics, 2014

[7] General Path Planning Methodology for Leader-Followers based Robot Formations, S. Garrido, L. Moreno, J. V. Gómez, Pedro Lima, International Journal of Advanced Robotic Systems, Vol. 10, DOI: 10.5772/53999, 2013

[8] Multi-Robot Cooperative Spherical-Object Tracking in 3D Space Based on Particle Filters, Aamir Ahmad, Pedro Lima, Robotics and Autonomous Systems, Vol. 61, Issue 10, October, pp. 1084-1093, ISSN 0921-8890, 2013

[9] Robot task plan representation by Petri nets: modelling, identification, analysis and execution, Hugo Costelha, Pedro Lima, Journal of Autonomous Robots, Vol. 33, Issue 4, pp. 337-360, 2012

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

[11] Robot Formations Motion Planning using Fast Marching, S. Garrido, L. Moreno, Pedro Lima, Journal of Robotics and Autonomous Systems, Elsevier, 2011

[12] Tracking objects with generic calibrated sensors: an algorithm based on color and 3D shape features, Matteo Taiana, João Santos, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Robotics and Autonomous Systems, special issue on Omnidirectional Robot Vision, Vol. 58, Issue 6, 30 June, pp. 784-795, 2010

[13] Instituição, Porfírio Silva, Pedro Lima, Revista de Comunicação e Linguagens, 40 (Out. 2009), pp. 97-107, 2009 – PDF

[14] Linear-Time Temporal Logic Control of Discrete Event Models of Cooperative Robots, Bruno Lacerda, Pedro Lima, Journal of Physical Agents, Vol. 2, No. 1, Special Issue on Multi-Robot Systems , 2008

[15] A Bayesian Approach to Sensor Fusion in Autonomous Sensor and Robot Networks, Pedro Lima, IEEE Instrumentation and Measurement Magazine, Vol. 10, No. 3, pp. 22-27, 2007

[16] A Search and Rescue Robot with Tele-Operated Tether Docking System, C. Marques, J. Cristovão, P. Alvito, Pedro Lima, João Frazão, Isabel Ribeiro, Rodrigo Ventura, Industrial Robot, Emerald Group Publishing Limited, Vol. 34, No.4, pp. 332-338, 2007 – PDF

[17] Modeling Dynamics of Cell Population Molecule Expression Distribution, D. Milutinovic, J. Carneiro, Michael Athans, Pedro Lima, Journal of Non-Linear Analysis: Hybrid Systems and Applications, Elsevier, Vol. 1, Issue 1, pp. 81-94, 2007 – PDF

[18] Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO, Dan Dumitriu, Sónia Marques, Pedro Lima, J. C. Bastante, J. Araújo, L. F. Peñin, A. Caramagno, B. Udrea, IET, Control Theory and Applications, Vol. 1, Issue 2 , p. 443-552, March, 2007 – PDF

[19] Controlo de um Manipulador Robotico Usando Visão, G. Almeida, José Santos-Victor, Pedro Lima, Robótica, No. 62, 2006 – PDF

[20] Modeling and Optimal Centralized Control of a Large-Size Robotic Population, D. Milutinovic, Pedro Lima, IEEE Transactions on Robotics, Vol. 22, Issue: 6, pp.1280-1285, 2006 – PDF

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

[22] RoboCup 2004 Competitions and Symposium: A Small Kick for Robots, a Giant Score for Science, Pedro Lima, Luís Custódio, I. Akin, A. Jacoff, G. Kraezschmar, B. Kiat Ng, O. Obst, T. Röfer, Y. Takahashi, C. Zhou, AI-Magazine, Vol. 6, Nº 2, 2005 – PDF

[23] Motion Feasibility of Multi-Agent Formations, Paulo Tabuada, George J. Pappas, Pedro Lima, IEEE Transactions on Robotics, Vol. 21 (3), pp. 387-392, 2005 – PDF

[24] Artificial Intelligence and Systems Theory Applied to Cooperative Robots, Pedro Lima, Luís Custódio, International Journal of Advanced Robotic Systems, No. 3, 2004 – PDF

[25] Compositional Abstractions of Hybrid Control Systems, PauloTabuada, George J. Pappas, Pedro Lima, Journal of Discrete Event Dynamic Systems, Volume 14, Issue 2, 2004 – PDF

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

[27] Robótica 2003 – 3º Festival Nacional de Robótica, Pedro Lima, João M. Sousa, Isabel Ribeiro, Carlos Cardeira, Luís Custódio, Robótica, artigo convidado, 2003

[28] Markov Localization in the Robocup Simulation League, Carla Cristina Figueiredo Penedo, João Pedro Geraldo Navegas Pavão, Pedro Lima, Isabel Ribeiro, Robotica, 4º trimestre, pp. 16-21, 2003

[29] A Glass Furnace Operation System Using Fuzzy Modelling and Genetic Algorithms for Performance Optimisation, João Pina, Pedro Lima, Engineering Applications of Artificial Intelligence, Vol 16/7-8 pp 681-690, Elsevier, 2003

[30] Towards a Research RoadMap for RoboCup, H.-D. Burkhard, D. Duhaut, M. Fujita, Pedro Lima, R. Murphy, R. Rojas, IEEE Robotics and Automation Magazine, Vol. 9, No. 2, 2002

[31] The RoboCup 2001 Competitions and Conference: Report and Research Issues, Pedro Lima, T. Balch, M. Fujita, R. Rojas, M. Veloso, H. Yanco, IEEE Robotics and Automation Magazine, Vol. 9, No. 2, 2002

[32] Planeamento de Trajectórias usando Caminhos de Curvatura Contínua, Duarte C. Leão, Tiago C. Pereira, Pedro Lima, Luís Custódio, Robótica, Nº 48-49, 2002, selected paper from the Actas do Encontro Científico do Robótica 2002 - Festival Nacional de Robótica, 2002 – PDF

[33] Omni-Directional Catadioptric Vision for Soccer Robots, Pedro Lima, Andrea Bonarini, Carlos Machado, Fabio Marchese, Carlos Marques, Fernando Ribeiro, Domenico Sorrenti, Special issue on the EuroRoboCup of the Journal of Robotics and Autonomous Systems, Elsevier, Amesterdam, Vol 36, no 2, 2001 – PDF

[34] RoboCup-2000: The Fourth Robotic Soccer World Championships, M. Asada, T. Balch, R. D´Andrea, M. Fujita, B. Hengst, G. Kraetzschmar, Pedro Lima, N. Lau, H. Lund, D. Polani, P. Scerri, S. Tadakoro, T. Weigel, G. Wyeth, AI-Magazine, Vol. 22, No. 1, 2001 – PDF

[35] Navigation in a Maze, Alberto Vale, J. Simões, J. Machado, Pedro Lima, Robótica, nº 45-4º Trimestre, pp.66-70, 2001 – PDF

[36] Intelligent Controllers as Hierarchical Stochastic Controllers, Pedro Lima, George Saridis, IEEE Trans. on Systems, Man and Cybernetics, Vol. 29: part B, No. 2, 1999

[37] The MiniRobot Project: Learning from Building Small Mobile Robots, Pedro Lima, Carlos Cardeira, IST Science & Technology, No. 3, 1998

[38] Performance Improvement of Intelligent Machines Through Feedback, Pedro Lima, George N. Saridis, International Journal of Intelligent Control Systems, Vol. 1, No. 1, March, p 155-173, 1996

[39] Learning Optimal Robotic Tasks, Pedro Lima, George Saridis, Special Track on Intelligent Control of IEEE Expert Magazine, Vol. 11, No. 2, April, pp 38-45, 1996

Books

[1] Robotic Soccer, Pedro Lima, (Ed.)‚ I-Tech Education and Publishing, Vienna, Austria, 2007

[2] Cells and Robots - Modeling and Control of Large-Size Agent Populations - Modeling and Control of Large-Size Agent Populations, Dejan Milutinovic, Pedro Lima, Springer Tracts in Advanced Robotics (STAR) Series , Vol. 32, 2007

[3] Design of Intelligent Control Systems Based on Hierarchical Stochastic Automata, Pedro Lima, George N. Saridis, Series in Intelligent Control and Intelligent Automation, vol. 2, World Scientific Publ. Co., 1996

Book chapters

[1] Biological Cell Inspired Stochastic Models and Control, D. Milutinovic, Pedro Lima, in Microbiorobotics - Biologically Inspired Microscale Robotic Systems, MinJun Kim, A. Agung Julius, Edward Steager (Eds), Elsevier Micro & Nano Technologies Series, 2012

[2] Petri Net Robotic Task Plan Representation: Modelling, Analysis and Execution, Hugo Costelha, Pedro Lima, in Autonomous Agents, INTECH, Austria (invited), 2010

[3] Error Monitoring, Conflict Resolution and Decision-Making, Pedro Lima, in Perception-reason-action cycle: Models, algorithms and systems, J. G. Taylor, D. Polani, A. Hussain, and N. Tish (Eds.), Springer-Verlag (invited), 2010

[4] Multi-Robot Systems, Pedro Lima, Luís Custódio, Chapter I of Innovations in Robot Mobility and Control, S. Patnaik, S. Tzafestas (Eds.). Springer Verlag, Berlin, 2006

[5] The SocRob Project: Soccer Robots or Society of Robots, Pedro Lima, Luís Custódio, in Cutting Edge Robotics, Kordic, Lazinica, Merdan (Eds.), ARS pro litaratur Verlag, Croatia, 2005

[6] RoboCup 2004 Overview, Pedro Lima, Luís Custódio, RoboCup-2004: Robot Soccer World Cup VIII, D. Nardi, M. Riedmiller, C. Sammutt, J. Santos-Victor, Eds., Springer Verlag, Berlin, 2005

[7] Navigation Controllability of a Mobile Robot Population, Francisco Melo, Isabel Ribeiro, Pedro Lima, RoboCup-2004: Robot Soccer World Cup VIII, Springer Verlag, Berlin, 2005

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

[9] Topological Navigation in Configuration Space Applied to Soccer Robots, Gonçalo Neto, Hugo Costelha, Pedro Lima, RoboCup-2003: Robot Soccer World Cup VII, Springer Verlag, Berlin, 2004

[10] Model and Behavior-Based Robotic Goalkeeper, H. Lausen, J. Nielsen, M. Nielsen, Pedro Lima, RoboCup-2003: Robot Soccer World Cup VII, Springer Verlag, Berlin, 2004

[11] A Modified Potential Fields Method for Robot Navigation Applied to Dribbling in Robotic Soccer, Bruno Damas, Luís Custódio, Pedro Lima, RoboCup 2002 Book, Editors: Gal Kaminka, Pedro Lima and Raul Rojas, Springer-Verlag, Berlin, 2003

[12] Multi-Sensor Navigation for Soccer Robots, C. Marques, Pedro Lima, RoboCup 2001 Book, Springer-Verlag, Berlin, 2002 – PDF

[13] A Localization Method for a Soccer Robot Using a Vision-Based Omni-Directional Sensor, C. Marques, Pedro Lima, in RoboCup 2000 Book, Springer-Verlag, Berlin, 2001 – PDF

[14] A Functional Architecture for a Team of Fully Autonomous Cooperative Robots, Pedro Lima, Rodrigo Ventura, Pedro Aparício, Luís Custódio, in Manuela Veloso and Hiroaki Kitano, editors, RoboCup-99: Robot Soccer World Cup III, Lecture Notes in Computer Science, Springer-Verlag, Berlin, (12 pags), 2000 – PDF

[15] Satellite Attitude Control Problem, R. Wisniewski, A. Astolfi, T. Bak, M. Blanke, Pedro Lima, K. Spindler, P. Tabuada, P. Tavares, chapter in Control of Complex Systems (COSY), Springer-Verlag, Berlin, 2000 – PDF

[16] ISocRob - Intelligent Society of Robots, Rodrigo Ventura, Pedro Aparício, Carlos Marques, Pedro Lima, Luís Custódio, in Manuela Veloso and Hiroaki Kitano, editors, RoboCup-99: Robot Soccer World Cup III, Lecture Notes in Computer Science, Springer-Verlag, Berlin, 2000 – PDF

[17] RoboCup-99: Robot Soccer World Cup III, chapter A Functional Architecture for a Team of Fully Autonomous Cooperative Robots, Pedro Lima, Rodrigo Ventura, Pedro Aparício, Luís Custódio, Lecture Notes in Computer Science. Springer-Verlag, Berlin, 2000 – PDF

[18] RoboCup-99: Robot Soccer World Cup III, chapter ISocRob - Intelligent Society of Robots, Rodrigo Ventura, Pedro Aparício, Carlos Marques, Pedro Lima, Luís Custódio, Lecture Notes in Computer Science. Springer-Verlag, Berlin, 2000 – PDF

[19] RoboCup-98: Robot Soccer World Cup II, Pedro Aparício, Rodrigo Ventura, Pedro Lima, Carlos Pinto-Ferreira, chapter ISocRob --- Team Description, Springer-Verlag, Berlin, 1999

[20] 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, Lecture Notes in Computer Science, Vol. 1604, Springer-Verlag, Berlin, 1999

Conference papers

[1] Point-based POMDP solving with factored value function approximation , Tiago Veiga, Matthijs Spaan, Pedro Lima, accepted, AAAI 2014 - 28th AAAI Conference on Artificial Intelligence, Québec City, Québec, Canada, 2014

[2] Audio-based Bearing-only Localization for Swarms of Micro Air Vehicles, Meysam Basiri, F. Schill, Pedro Lima, D. Floreano, accepted for presentation in the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong-Kong, China, 2014

[3] Uncertainty based Multi-Robot Cooperative Triangulation, A. Dias, J. Almeida, Pedro Lima, E. Silva, Proc. of Robocup 2014 Symposium, João Pessoa, Brasil. Springer-Verlag Lecture Notes in Artificial Intelligence (LNAI)., 2014

[4] A Testbed for Autonomous Robot Surveillance (Demonstration), S. Witwicki, J. C. Montoya, João Messias, J. Reis, Jesús Capitán, Francisco Melo, Pedro Lima, Matthijs Spaan, Proc. of AAMAS 2013 - 13th International Conference on Autonomous Agents and Multiagent Systems, pp. 1635-1636, Paris, France, 2014 – PDF

[5] A Robotic Platform for Edutainment Activities in a Pediatric Hospital, João Messias, Rodrigo Ventura, Pedro Lima, João Sequeira, P. Alvito, C. Marques, P. Carriço, Proc. of ICARSC 2014 - IEEE International Conference on Autonomous Robot Systems and Competitions, Espinho, Portugal, pp. 193-198, 2014 – PDF

[6] Simulation Environment for Multi-Robot Cooperative 3D Target Perception, A. Dias, J. Almeida, N. Dias, Pedro Lima, E. Silva, Proc. of SIMPAR 2014 - 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, Bergamo, Italy. Springer-Verlag Lecture Notes in Computer Science, 2014

[7] Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems, Meysam Basiri, F. Schill, Pedro Lima, D. Floreano, Proc. of RSS 2013 Robotics: Science and Systems Conference, Berlin, Germany, 2013 – PDF

[8] Efficient Distributed Communications for Multi-Robot Systems, J. Reis, Pedro Lima, J. Garcia, Proc. of RoboCup2013 Symposium, Eindhoven, the Netherlands, 2013 – PDF

[9] GSMDPs for Multi-Robot Sequential Decision-Making, João Messias, Matthijs Spaan, Pedro Lima, Proc. of AAAI 2013 - 27th Conference on Artificial Intelligence, Bellevue, Washington, USA , 2013

[10] Multi-Robot Cooperative Stereo for Outdoor Scenarios, A. Dias, J. Almeida, Pedro Lima, E. Silva, Proc. of ROBOTICA 2013 - 13th International Conference on Autonomous Robot Systems and Competitions, Lisboa, Portugal, 2013 – PDF

[11] An Experimental Study in Wireless Connectivity Maintenance Using up to 40 Robots Coordinated by an Institutional Robotics Approach, José N. Pereira, Porfírio Silva, Pedro Lima, A. Martinoli, Proc. of IROS 2013 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013

[12] Abnormality detection in multiagent systems inspired by the adaptive immune system, Danesh Tarapore, A. L. Christensen, Pedro Lima, J. Carneiro, Proc. of AAMAS 2013 - 12th International Conference on Autonomous Agents and Multiagent Systems, Saint Paul, Minnesota, USA, 2013 – PDF

[13] Multiagent POMDPs with Asynchronous Execution, João Messias, Matthijs Spaan, Pedro Lima, Proc. of AAMAS 2013 - 12th International Conference on Autonomous Agents and Multiagent Systems, Saint Paul Minnesota, USA, 2013 – PDF

[14] Perception-Driven Multi-Robot Formation Control, Aamir Ahmad, T. P. Nascimento, A. G. S. Conceição, A. P. Moreira, Pedro Lima, Proc. of ICRA 2013 - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013

[15] Cooperative Robot Localization and Target Tracking based on Least Square Minimization, Aamir Ahmad, G. D. Tipaldi, Pedro Lima, W. Burgard, Proc. of ICRA 2013 - IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013

[16] Unknown-Color Spherical Object Detection and Tracking, A. Troppan, E. Guerreiro, F. Celiberti, G. Santos, Aamir Ahmad, Pedro Lima, Robotica 2013 - 13th International Conference on Autonomous Robot Systems and Competitions, Lisbon, Portugal, 2013 – PDF

[17] Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles, Meysam Basiri, F. Schill, Pedro Lima, D. Floreano, Proc. of IROS 2012 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal, 2012 – PDF

[18] Context-Based Reasoning in Smart Buildings, Pedro Fazenda, P. Carreira, Pedro Lima, Procs. of IT4ENERGY 2012 - 1st International Workshop on Information Technology for Energy Applications, Lisbon, Portugal, Vol. 923 of CEUR Workshop Proceedings, ISSN 1613-0073, 2012 – PDF

[19] Environment classification in multiagent systems inspired by the adaptive immune system, Danesh Tarapore, A. Christensen, Pedro Lima, J. Carneiro, Proc. of the ALife 13th International Conference on the Synthesis and Simulation of Living Systems, MIT Press, Boston, MA, USA, p. 275-282, 2012 – PDF

[20] Clonal expansion without self-replicating entities, Danesh Tarapore, A. Christensen, Pedro Lima, J. Carneiro, Proc. of ICARIS - 11th International Conference on Artificial Immune Systems, Springer, Berlin, Germany, pp. 191-204, 2012 – PDF

[21] Search and rescue robots: The civil protection teams of the future, Rodrigo Ventura, Pedro Lima, Proc. of EST 2012 - 3rd International Conference on Emerging Security Technologies, pp. 12–19, Lisbon, Portugal, 2012 – PDF

[22] Petri Net Based Supervisory Control of a Social Robot with LTL Specifications, Bruno Lacerda, Pedro Lima, J. Gorostiza, M. A. Salichs, Proc. of ROBOTICA 2011 - 11th International Conference On Mobile Robots And Competitions, Lisboa, Portugal, 2011

[23] Designing Petri Net Supervisors from LTL Specifications, Bruno Lacerda, Pedro Lima, Proc. of the 2011 Robotics: Science and Systems Conference, Los Angeles, CA, USA, 2011

[24] Petri Nets as an Analysis Tool For Data Flow in Wireless Sensor Networks, Bruno Lacerda, Pedro Lima, Proc. of CNRS 2011 - 1st Portuguese Conference on Wireless Sensor Networks, Coimbra, Portugal, 2011

[25] Planning under Uncertainty for Search and Rescue, Ana Rita Mendes, Matthijs Spaan, Pedro Lima, Proc. of ROBOTICA 2011 - 11th International Conference On Mobile Robots And Competitions, Lisbon, Portugal, 2011

[26] Online Model Identification for Set-Valued State Estimators with Discrete-Time Measurements, João Messias, Paulo Oliveira, Pedro Lima, Proc. of 18th IFAC World Congress, Milano, Italy, 2011

[27] Formalizing Institutions as Executable Petri Nets for Distributed Robotic Systems, José N. Pereira, Porfírio Silva, Pedro Lima, A. Martinoli, Proc. of ECAL 2011 - European Conference on Artificial Life, Paris, France, 2011

[28] LTL-Based Decentralized Supervisory Control of Multi-Robot Tasks Modelled as Petri Nets, Bruno Lacerda, Pedro Lima, Proc. of IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011

[29] Efficient Offline Communication Policies for Factored Multiagent POMDPs, João Messias, Matthijs Spaan, Pedro Lima, Proc. of NIPS 2011 - 25th Annual Conference on Neural Information Processing Systems, Granada, Spain, 2011

[30] Multi-Robot Cooperative Object Tracking Based on Particle Filters, Aamir Ahmad, Pedro Lima, Proc. of ECMR 2011 - European Conference on Mobile Robots, Orebro, Sweden, 2011

[31] Designing Petri Net Supervisors for Multi-Agent Systems from LTL Specifications (Extended Abstract), Bruno Lacerda, Pedro Lima, Proc. of AAMAS 2011 - 10th International Conference on Autonomous Agents and Multiagent Systems, Taipei, Taiwan, 2011

[32] Fault-tolerant Probabilistic Sensor Fusion for Distributed Multi-Agent Systems, Abdolkarim Pahliani, Matthijs Spaan, Pedro Lima, Proc. of IROS 2010 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010

[33] Active Cooperative Perception in Networked Robot Systems Using POMDPs, Matthijs Spaan, Tiago Veiga, Pedro Lima, Proc. of IROS 2010 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010

[34] Coordination Through Institutional Roles in Robot Collectives, José N. Pereira, A. L. Christensen, Porfírio Silva, Pedro Lima, Proc. of AAMAS 2010 - 9th International Conference on Autonomous Agents and Multiagent Systems, Toronto, Canada, 2010

[35] Multi-robot planning under uncertainty with communication: a case study, João Messias, Matthijs Spaan, Pedro Lima, AAMAS 2010 Workshop on Multi-Agent Sequential Decision Making in Uncertain Domains, Toronto, Canada, 2010 – PDF

[36] Cooperative Localization Based on Visually Shared Objects, Pedro Lima, J. Santos, P. Santos, R. Oliveira, Aamir Ahmad, Proc. of RoboCup2010 Symposium, Singapore, 2010

[37] Decision-theoretic Planning under Uncertainty for Cooperative Active Perception, Matthijs Spaan, Pedro Lima, Proc. of NIPS 2009 Workshop on Adaptive Sensing, Active Learning and Experimental Design, Vancouver, B. C., Canada, 2009

[38] LTL Plan Specification for Robotic Tasks Modelled as Finite State Automata, Bruno Lacerda, Pedro Lima, Proc. of Workshop ADAPT - Agent Design: Advancing from Practice to Theory, AAMAS 2009 - the 8th International Conference on Autonomous Agents and Multiagent Systems, Budapest, Hungary, 2009

[39] Background Subtraction Based on Rank Constraint for Point Trajectories, Aamir Ahmad, Alessio Del Bue, Pedro Lima, Proc. of RecPad 2009 - 15th Portuguese Conference on Pattern Recognition, Aveiro, Portugal, 2009 – PDF

[40] Line Following and Ground Vehicle Tracking by an Autonomous Aerial Blimp, D. Jerónimo, Ricardo Alcácer, F. Alegria, Pedro Lima, Proc. of ROBOTICA 2009 - 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, 2009 – PDF

[41] Multi-Robot Cooperative Object Localization - Decentralized Bayesian Approach, J. Santos, Pedro Lima, Proc. of RoboCup2009 Symposium, Graz, Austria, 2009 – PDF

[42] ISRobotNet: A Testbed for Sensor and Robot Network Systems, Marco Barbosa, Alexandre Bernardino, Dario Figueira, José Gaspar, Nelson Gonçalves, Pedro Lima, Plinio Moreno, Abdolkarim Pahliani, José Santos-Victor, Matthijs Spaan, João Sequeira, Proc. of IROS 2009 - The IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 2009 – PDF

[43] Decision-Theoretic Robot Guidance for Active Cooperative Perception, Abdolkarim Pahliani, Matthijs Spaan, Pedro Lima, Proc. of IROS 2009 - The IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, 2009 – PDF

[44] A Decision-theoretic Approach to Dynamic Sensor Selection in Camera Networks, Matthijs Spaan, Pedro Lima, Proc. of ICAPS 2009 - 19th International Conference on Automated Planning and Scheduling, Thessaloniki, Greece, 2009 – PDF

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

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

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

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

[49] Institutional Environments, Porfírio Silva, Rodrigo Ventura, Pedro Lima, Proc. of Workshop AT2AI: From agent theory to agent implementation, AAMAS 2008 - 7th International Conference on Autonomous Agents and Multiagent Systems, Estoril, Portugal, 2008

[50] Combining Supervisory Control of Discrete Event Systems and Reinforcement Learning to Control Multi-Robot Systems, Gonçalo Neto, Pedro Lima, Proc. of Workshop Formal models and methods for multi-robot systems, AAMAS 2008 - the 7th International Conference on Autonomous Agents and Multiagent Systems, Estoril, Portugal, 2008

[51] Monte Carlo Localization Based on Gyrodometry and Line-Detection , J. Messias, João Santos, João Estilita, Pedro Lima, Proc. of ROBÓTICA2008 - 8th Conference on Mobile Robots and Competitions, Aveiro, Portugal, 2008

[52] 3D tracking by Catadioptric Vision Based on Particle Filters, Matteo Taiana, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Proc. of Robocup2007 - Robocup International Symposium, Atlanta, USA, 2007 – PDF

[53] Multi-Robot Systems Middleware Applied to Soccer Robots, Nelson Ramos, Marco Barbosa, Pedro Lima, Proc. of ROBÓTICA2007 - 7th Conference on Mobile Robots and Competitions, Paderne, Portugal, 2007

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

[55] Non-Holonomic Robot Formations with Obstacle Compliant Geometry, Pedro Fazenda, Pedro Lima, Proc. of IAV2007 - 6th IFAC Symposium on Intelligent Autonomous Vehicles, Toulouse, France, 2007

[56] Cooperative Opinion Pool: a New Method for Sensor Fusion by a Robot Team, Abdolkarim Pahliani, Pedro Lima, Proc. of IROS 2007 - IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007

[57] Modeling, Analysis and Execution of Robotic Tasks using Petri Nets, Hugo Costelha, Pedro Lima, Proc. of IROS 2007 - IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007 – PDF

[58] Eliciting Preferences over Observed Behaviours Based on Relative Evaluations, Valdinei Silva, Pedro Lima, A. Costa, Proc. of IROS 2007 - IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007

[59] On the Use of Perspective Catadioptric Sensors for 3D Model-Based Tracking with Particle Filters, Matteo Taiana, José Gaspar, Jacinto Nascimento, Alexandre Bernardino, Pedro Lima, Proc. of IROS 2007 - IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007 – PDF

[60] Q-learning applied to a Stochastic Timed Automaton with Deterministic Transitions and Clock Resets, Gonçalo Neto, Pedro Lima, Proc. of RoboMat 2007 - Workshop on Robotics and Mathematics, Coimbra, Portugal, 2007

[61] Institutional Robotics, P. Silva, Pedro Lima, Proc. of ECAL 2007 - 9th European Conference on Artificial Life, Lisbon, Portugal, 2007

[62] People Detection and Tracking in a Receptionist Robot, A. Aleixo, M. Malhado, Rodrigo Ventura, Pedro Lima, Proc. of RecPad 2007 - 13ª Conferência Portuguesa de Reconhecimento de Padrões, Lisbon, Portugal , 2007 – PDF

[63] Adaptação de Funções Utilidades para Aprendizado por Reforço, Valdinei Silva, Pedro Lima, A. Costa, Anais do XVI Congresso Brasileiro de Automática, p. 2706-2711, Salvador, BA, Brasil, 2006

[64] Decentralized, Low-Communication State Estimation and Optimal Guidance of Formation Flying Spacecraft, D. Dimitriu, Sónia Marques, Pedro Lima, B. Udrea, 16th AAS/AIAA Space Flight Mechanics Conference, Tampa, Florida, USA, 2006 – PDF

[65] Inverse Reinforcement Learning with Evaluation, Valdinei Silva, A. Costa, Pedro Lima, Proc. of ICRA2006 - IEEE International Conference on Robotics and Automation, Orlando, Florida, USA, 2006 – PDF

[66] Improving Self Localization and Object Localization by a Team of Robots Using Sensor Fusion, Abdolkarim Pahliani, Pedro Lima, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006 – PDF

[67] Challenges and Solutions in an Autonomous Driving Mobile Robot Competition, P. Afonso, J. Azevedo, C. Cardeira, B. Cunha, Pedro Lima, V. Santos, Proc. Controlo2006 - 7th Portuguese Conference in Automatic Control, Lisbon, Portugal, 2006 – PDF

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

[69] Self-Localization Based on Kalman Filter and Monte Carlo Fusion of Odometry and Visual Information, D. Cabecinhas, J. Nascimento, J. Ferreira, Paulo Rosa, Pedro Lima, Proc. ROBOTICA 2006 - 6th Portuguese Robotics Festival, Guimarães, Portugal, 2006 – PDF

[70] RAPOSA: Semi-Autonomous Robot for Rescue Operations , C. Marques, J. Cristovão, Pedro Lima, João Frazão, Isabel Ribeiro, Rodrigo Ventura, Proc. of IROS2006 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006 – PDF

[71] Minimax Value Iteration Applied to Robotic Soccer, Gonçalo Neto, Pedro Lima, Proc. of ICRA2005 - IEEE Workshop on Cooperative Robotics, Barcelona, Espanha, 2005 – PDF

[72] Controlo de um Manipulador Robótico Usando Visão , G. Almeida, José Santos-Victor, Pedro Lima, Proc. ROBOTICA2005 – 5th Portuguese Robotics Festival, Coimbra, Portugal, 2005 – PDF

[73] Optimal Trajectory Planning of Formation Flying Spacecraft , Dan Dumitriu, B. Udrea, Pedro Lima, Proc. of 16th IFAC World Congress, Prague, Czech Republic, 2005 – PDF

[74] Formulation and Implementation of Relational Behaviours for Multi-Robot Cooperative Systems, Bob van der Vecht, Pedro Lima, Proc. RoboCup 2004 Symposium, Lisbon, Portugal, 2004 – PDF

[75] Stochastic Discrete Event Model of a Multi-Robot Team Playing an Adversarial Game, Bruno Damas, Pedro Lima, Proc. IAV 2004 - 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 – PDF

[76] Agent-Based Software Architecture for Multi-Robot Teams, João Frazão, Pedro Lima, Proc. IAV 2004 - 5th IFAC/EURON Symposium on Intelligent Autonomous Vehicles, Lisbon, Portugal, 2004 – PDF

[77] Bayesian Sensor Fusion for Cooperative Object Localization and World Modeling, Pedro Pinheiro, Pedro Lima, Proc. 8th Conference on Intelligent Autonomous Systems, IAS-8, Amsterdam, The Netherlands, 2004 – PDF

[78] Navigation Controllability of a Mobile Robot Population, Francisco Melo, Isabel Ribeiro, Pedro Lima, Proc. RoboCup 2004 Symposium, Lisbon, Portugal, 2004 – PDF

[79] Distributed Deliberative Decision System for a Multi-Robot, Vasco Pires, Miguel Arroz, Luís Custódio, Pedro Lima, Isabel Ribeiro, Proc. Scientific Meeting of the 4th Portuguese Robotics Festival, Porto, Portugal, pp. 127-134, 2004

[80] Smooth Local Path Planning for a Mobile Manipulator, Carlos Alfaro, Isabel Ribeiro, Pedro Lima, Proc. of ROBOTICA 2004 - 4th Portuguese Robotics Festival, Porto, Portugal, pp. 127-134, 2004 – PDF

[81] Event-driven Modelling and Control of a Mobile Robot Population, Francisco Melo, Pedro Lima, Isabel Ribeiro, Proc. IAS8 - 8th Conference on Intelligent Autonomous Systems, Amsterdam, The Netherlands. pp. 237-244, 2004 – PDF

[82] Flugregler für ein autonomes Luftschiff (, Thomas Krause, Pedro Lima, Peter Protzel, Proc. German Conference on Autonomous Mobile Systems, Karlsruhe, Germany, 2003 – PDF

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

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

[85] A Hybrid Automata Modell of TCR Triggering Dynamics, Dejan Milutinovic, Jorge Carneiro, Michael Athans, Pedro Lima, Proc. of MED2003 - 11th IEEE Mediterranean Conference on Control and Automation, Rhodes, Greece, 2003 – PDF

[86] Biologically Inspired Stochastic Hybrid Control of Multi-Robot Systems, Dejan Milutinovic, Pedro Lima, Michael Athans, Proc. ICAR 2003 - 11th International Conference on Advanced Robotics, University of Coimbra, Portugal, 2003 – PDF

[87] Motion Formulation for Robot Formations Based on Scalar Fields, Andrés Gabriel Garcia, Pedro Lima, Proc. ICAR 2003 - The 11th International Conference on Advanced Robotics, University of Coimbra, Portugal, 2003 – PDF

[88] The RESCUE Project: Cooperative Navigation for Rescue Robots, Pedro Lima, Luís Custódio, Isabel Ribeiro, José Santos-Victor, Proceedings do 1st International Workshop on Advances in Service Robotics, ASER’03, Bardolino, Itália, pp. 94-101, 2003 – PDF

[89] Markov Localization in the RoboCup Simulation League, Carla Cristina Figueiredo Penedo, João Pedro Geraldo Navegas Pavão, Pedro Lima, Isabel Ribeiro, Proc. ROBOTICA2003 - 3rd Portuguese Robotics Festival, Lisbon, Portugal, 2003 – PDF

[90] Improving object localization through sensor fusion applied to soccer robots, Pedro Marcelino, Pedro Nunes, Pedro Lima, Isabel Ribeiro, Proc. ROBOTICA2003 - 3rd Portuguese Robotics Festival, Lisbon, Portugal, 2003 – PDF

[91] Multi-Sensor Navigation for Soccer Robots, C. Marques, Pedro Lima, Proc. RoboCup 2001 Workshop, Seattle, USA, 2002

[92] Navegação Entre Obstáculos Usando Um Método de Campos de Potencial Modificados, Bruno Damas, Pedro Lima, Luís Custódio, Actas do Encontro Científico do Robótica 2002 - Festival Nacional de Robótica, 2002 – PDF

[93] Artificial Intelligence and Systems Theory Applied to Cooperative Robots: the SocRob Project, Pedro Lima, Luís Custódio, Actas do Encontro Científico do Robótica 2002 - Festival Nacional de Robótica, 2002 – PDF

[94] Small Satellites Attitude Determination Using a Predictive Algorithm for Attitude Stabilization and Spin Control, Sónia Marques, P. Tabuada, Pedro Lima, Proc. of IEEE Mediterranean Conference on Control and Automation, MED-2002, Lisboa, 2002 – PDF

[95] An Operation System for Industrial Processes: Application to a Glass Furnace, J. Pina, Pedro Lima, Proc. of IEEE Mediterranean Conference on Control and Automation, MED-2002, Lisboa, 2002 – PDF

[96] Formation Feasibility in the Presence of Observations, P. Tabuada, G. J. Pappas, Pedro Lima, Proc. of IEEE Mediterranean Conference on Control and Automation, MED’2002, invited session on Multi-Agent Systems, Lisboa, 2002 – PDF

[97] A Modified Potential Fields Method for Robot Navigation Applied to Dribbling in Robotic Soccer, Bruno Damas, Luís Custódio, Pedro Lima, Proc. of RoboCup Symposium, Fukuoka, Japan, 2002 – PDF

[98] Composing Abstractions of Hybrid Systems, P. Tabuada, G. J. Pappas, Pedro Lima, Proceedings of the Hybrid Systems: Computation and Control, 5th Int. Workshop, Stanford, CA, 2002 – PDF

[99] Petri Net Models of Robotic Tasks, Dejan Milutinovic, Pedro Lima, Proc. ICRA2002 - IEEE International Conference on Robotics and Automation, Washington D.C., USA, 2002 – PDF

[100] Hybrid abstractions: A search and rescue case study, P. Tabuada, G. J. Pappas, Pedro Lima, Proc. ECC2001 - European Control Conference, Porto, Portugal, 2001 – PDF

[101] Compositional Abstractions of Hybrid Control Systems, P. Tabuada, G. J. Pappas, Pedro Lima, Proc. CDC200 - 40th IEEE Conference on Decision and Control, Orlando, FL, USA, 2001 – PDF

[102] Cyclic directed formations of multi-agent systems, P. Tabuada, G. J. Pappas, Pedro Lima, Proc. ECC2001 - European Control Conference, Porto, Portugal, 2001 – PDF

[103] Position Tracking for Underactuated Rigid Bodies on SE(3), P. Tabuada, Pedro Lima, Proc. NOLCOS2001 - 5th IFAC Symposium on Nonlinear Control Systems, Saint- Petersburg, RUSSIA, 2001 – PDF

[104] Feasible Formations of Multi-Agent Systems, P. Tabuada, G. J. Pappas, Pedro Lima, Proc. ACC2001 - American Control Conference, Arlington, VA, USA, 2001 – PDF

[105] Vision-Based Self-Localization for Soccer Robots, Carlos Marques, Pedro Lima, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS2000, (6 pages), Takamatsu , Japan , 2000 – PDF

[106] Behavior-Based Cooperation with Application to Space Robots, João Sequeira, Pedro Lima, Isabel Ribeiro, João Sentieiro, in Proceedings of 6th ESA Workshop on ASTRA 2000, (7 pages), Noordjwikerhout, Netherlands, 2000 – PDF

[107] Small Satellite Attitude Control Based on a Kalman Filter, Robert Clements, Pedro Tavares, Pedro Lima, Proc. of IEEE ISIC 2000 (6 pages), Patras, Greece, 2000 – PDF

[108] Cooperative Learning and Planning for Multiple Robots, Sjoerd van der Zwaan, José A. Moreira, Pedro Lima, Proc. of IEEE ISIC 2000 (6 pages), 2000 – PDF

[109] Optical Track Detection for Mobile Robots Based on Real Time Fuzzy Decision-Making, Nuno Portela, Carlos Marques, Pedro Lima, Proc. of IEEE ISIC 2000 (6 pages), 2000 – PDF

[110] Comparison of Small Satellite Attitude Determination Methods, Sónia Marques, Robert Clements, Pedro Lima, in Proceedings of 2000 AIAA Conference on Navigation, Guidance and Control, Colorado, USA, 2000 – PDF

[111] IQ99 - A Mobile Autonomous Vehicle, Bruno Câmara, José António Lopes, Carlos Marques, Pedro Lima, Carlos Cardeira, in Proceedings of CONTROLO 2000, (6 pages), Guimarães, Portugal, 2000 – PDF

[112] Mobile Robot Competitions: Fostering Advances in Reasearch, Development and Education in Robotics, L. Almeida, J. Azevedo, C. Cardeira, P. Costa, P. Fonseca, Pedro Lima, F. Ribeiro, V. Santos, in Proceedings of CONTROLO 2000, (6 pages), Guimarães, Portugal, 2000 – PDF

[113] A functional architecture for a team of fully autonomous cooperative robots, Pedro Lima, Rodrigo Ventura, Pedro Aparício, Luís Custódio, In Proceedings of RoboCup Workshop of IJCAI-99. IJCAI, 1999 – PDF

[114] Autonomous Distributed Control of a Population of Cooperative Robots, Pedro Aparício, Pedro Lima, Proc. of SIRS 99 , 1999 – PDF

[115] A Functional Architecture for a Team of Fully Autonomous Cooperative Robots, Pedro Lima, Rodrigo Ventura, Pedro Aparício, Luís Custódio, Proc. of RoboCup Workshop of IJCAI 99, Stockholm, 1999 – PDF

[116] A Predictive Algorithm for Attitude Stabilization and Spin Control of Small Satellites, Paulo Tabuada, Pedro Alves, Pedro Tavares, Pedro Lima, European Control Conference (ECC'99), Karlsruhe - Germany, 1999 – PDF

[117] A Multi-Objective Optimisation System for a Glass Furnace, João Pina, Pedro Lima, European Control Conference (ECC'99), Karlsruhe - Germany , 1999 – PDF

[118] ISocRob - A Society of Intelligent Robots , Rodrigo Ventura, Pedro Aparício, Pedro Lima, Luís Custódio, Team Description Paper for RoboCup'99, 1999

[119] Socrob - a society of cooperative mobile robots, Rodrigo Ventura, Pedro Aparício, Carlos Pinto-Ferreira, Pedro Lima, Proc. of IEEE International Conference on Systems, Man, and Cybernetics, 1998 – PDF

[120] Project ConSat: Control of Small Satellites, Pedro Tavares, Paulo Tabuada, Pedro Lima, ESF COSY Annual Joint Workshop, Ohrid - Macedonia (invited paper), 1998 – PDF

[121] Centaur: A Vision-Based Autonomous Mobile Robot, Pedro Lima, Paulo Silva, José Santos, Carlos Cardeira, Proc. of European Advanced Robotics Systems Development (EUREL), Leiria, Portugal, IEE Press, 1998

[122] A Testbed for Robotic Visual Servoing and Catching of Moving Objects, Dinis Fernandes, Pedro Lima, Proc. of 5th IEEE Int. Conf. on Electronics, Circuits and Systems (ICECS 98), Lisbon, Portugal, 1998 – PDF

[123] Petri Nets for Modeling and Coordination of Robotic Tasks, Pedro Lima, Hugo Grácio, Vasco Veiga, Anders Karlsson, Proc. of IEEE International Conference on Systems, Man, and Cybernetics, San Diego, USA, 1998 – PDF

[124] ISocRob - Team Description, Pedro Aparício, Rodrigo Ventura, Pedro Lima, Carlos Pinto-Ferreira, Proc. of RoboCup Workshop 98, Paris, France, 1998

[125] Current Status of ISR/IST Open Control Architecture for a PUMA 560, Pedro Lima, Proc. of CONTROLO 98, Coimbra, Portugal, 1998 – PDF

[126] A Simulator of Satellite Attitude Dynamics, Pedro Tavares, Bruno Sousa, Pedro Lima, Proc. of CONTROLO 98, Coimbra, Portugal, 1998 – PDF

[127] BARBANETA: a Modular Mobile Platform, Pedro Aparício, João Ferreira, Pedro Raposo, Pedro Lima, Proc. of IFAC Intelligent Autonomous Vehicles IAV 98, Madrid, Spain , 1998 – PDF

[128] Study of the Motion Schedule for ITER Remote Handling Transport Casks, Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira, Proceedings of the 3rd.Portuguese Conference on Automatic Control, CONTROLO'98, Coimbra, Portugal, pp. 489-494, 1998 – PDF

[129] Geometric Feasibility of a Flexible Cask Transportation System for ITER , Pedro Lima, Isabel Ribeiro, Pedro Aparício, Proceedings of the 20th Symposium on Fusion Technology, SOFT'98, Marseille, France, Vol. 2, pp. 1055-1058, 1998 – PDF

[130] Conceptual Study on Flexible Guidance and Navigation for ITER Remote Handling Transport Cask , Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira, Proceedings of the 17th IEEE/NPSS Symposium on Fusion Engineering, SOFE'97, San Diego, USA, pp. 969-972, 1997 – PDF

[131] Active Docking of a Transport Cask Vehicle Subject to 6 Degrees of Freedom Misalignments , Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira, Proceedings of the 17th IEEE/NPSS Symposium on Fusion Engineering, SOFE'97, San Diego, USA, pp. 973-976, 1997 – PDF

[132] The Integration of Robotics in the Manufacturing Environment, João Sentieiro, Pedro Lima, Proc. of the 1st International Conference on Technology Policy and Innovation, Macau, 1997

[133] Learning Stochastic Automata, K. Najim, E. Ikonen, Pedro Lima, U. Kortela, in Proc. of 3rd Joint COSY Workshop, Budapest, Hungary (invited paper), 1997

[134] Neural Network Based Control of Biped Locomotion, Genetic Algorithm Optimization, L. Rodrigues, M. Prado, P. Tavares, K. da Silva, Pedro Lima, Agostinho Rosa, in Proc. of the 2nd Portuguese Conference on Automatic Control, Porto, Portugal, No. 11-13, pp. 815-820, 1996

[135] 3D Graphical Simulation of Biped Dynamic Locomotion, Gonçalo Pires, Pedro Lima, Proc. of SIRS'96 - International Symposium on Intelligent Robotic Systems, Lisbon, Portugal, 1996 – PDF

[136] An Integrated Learning, Planning and Reacting Algorithm Applied to a Real Mobile Robot, Alex Weiser, Pedro Lima, Proceedings of CONTROLO 96, Porto, Portugal, 1996 – PDF

[137] Progresses on the Design of Small Flexible Automated Guided Vehicles, Dinis Fernandes, Luís Farrolas, Pedro Brito, Pedro Lima, Proc. of CONTROLO 96, Porto, Portugal, 1996 – PDF

[138] First Steps Towards an Open Control Architecture for a PUMA 560, Nuno Moreira, Paulo Alvito, Pedro Lima, Proceedings of CONTROLO 96, Porto, Portugal , 1996 – PDF

[139] Research on Intelligent Control Methodologies at ISR/IST, Pedro Lima, João Sentieiro, Proceedings of the Robotics and Cybernetics Workshop of CESA 96, Lille, 1996 – PDF

[140] Using Stochastic Grammars to Learn Robotic Tasks, Pedro Lima, George Saridis, in Proc. of EPIA95, 1995 – PDF

[141] Hierarchical Reinforcement Learning Applied to Autonomous Underwater Vehicles, Pedro Lima, George Saridis, Proc. of ISR 1st Workshop on Autonomous Underwater Vehicles, 1995 – PDF

[142] Hierarchical Reinforcement Learning and DecisionMaking for Intelligent Machines, Pedro Lima, George Saridis, in Proc. of 1994 IEEE Int. Conf. on Robotics & Automation, San Diego, U.S.A., 1994 – PDF

[143] A Performance Measure for Intelligent Machines Based on Complexity and Reliability, Pedro Lima, George Saridis, in Proc. Symposium on Robot Control (SYROCO94), Capri, Italy , 1994 – PDF

[144] Measuring Complexity of Intelligent Machines, Pedro Lima, George Saridis, in Proc. of 1993 IEEE Int. Conf. on Robotics & Automation, Atlanta, U.S.A., 1993 – PDF

[145] Fuzzy Supervision on Intelligent Control Systems, Paulo Oliveira, Pedro Lima, João Sentieiro, 1st European Control Conference, Grenoble, France, 1991

[146] The Architecture of a Knowledge Based Controller for the Operation of Glass Melting Furnaces, Pedro Lima, Paulo Oliveira, Carlos Pinto-Ferreira, João Sentieiro, IFAC Workshop on Computer Software Structures Integrating AI/KBS Systems in Process Control, Bergen, Suécia, 1991 – PDF

[147] Fuzzy Supervision of Direct Controllers, Paulo Oliveira, Pedro Lima, João Sentieiro, 5th IEEE Conference on Intelligent Control, pp. 638-643, Philadelphia, USA, 1990 – PDF

[148] An Architecture for the Supervision of Fuzzy Controllers, Paulo Oliveira, Pedro Lima, João Sentieiro, R. Bravo, R. Galan, A. Jimenez, IEEE International Workshop on Intelligent Robots and Systems, pp. 919-924, vol. 2, Tsuchiura, Japan, 1990 – PDF

PhD theses

[1] Intelligent Machines as Hierarchical Stochastic Automata, Pedro Lima, PhD. Thesis, Rensselaer Polytechnic Institute, Troy, NY 12180-3590, 1994 – PDF

Technical reports

[1] ISocRob 2006 Team Description Paper, Pedro Lima, Hugo Costelha, João Estilita, Nelson Ramos, Gonçalo Neto, João Santos, RoboCup 2006, Bremen, Germany, 2006

[2] ISocRob-4LL 2006 Team Description Paper, Pedro Lima, Marco Barbosa, João Esteves, Nuno Lopes, RoboCup 2006, Bremen, Germany, 2006

[3] Coarse Hybrid Relative Navigation , Pedro Lima, A. Caramagno, Sónia Marques, L. Penin, CCN3-4 Final Report of ESA Formation Estimation Methodologies for Distributed Spacecraft, Institute for Systems and Robotics, Instituto Superior Técnico, 2006

[4] Formation Estimation Methodologies for Distributed Spacecraft – Phase II Final Report, Pedro Lima, A. Caramagno, J. C. Bastante, Dan Dumitriu, Sónia Marques, L. F. Peñin, J. A. Silva, Institute for Systems and Robotics, 2005

[5] RAPOSA Project - Final Report, J. Cristovão, C. Marques, João Frazão, Pedro Lima, Isabel Ribeiro, Institute for Systems and Robotics, 2005

[6] WE 3230/PO - Control Loop Design & Simulation Final Report, João Costal, Pedro Lima, Institute for Systems and Robotics, 2005

[7] Blocking Controllability of a Mobile Robot Population, Francisco Melo, Isabel Ribeiro, Pedro Lima, Relatório Técnico, RT-601-04, Instituto de Sistemas e Robótica, Pólo do Instituto Superior Técnico, 2004 – PDF

[8] Candidate Formation Algorithms Simulation Results and Performance Assessment, Pedro Lima, Dan Dumitriu, Sónia Marques, TN4-FEMDS, 2004

[9] Candidate Estimation, Guidance and Control Algorithms Functional Design and Analysis, Pedro Lima, Dan Dumitriu, Sónia Marques, TN3-FEMDS, 2004

[10] RAPOSA Project - Second Milestone Report, João Cristovão, Carlos Marques, João Frazão, Pedro Lima, Isabel Ribeiro, ISR Technical Report, 2004

[11] RAPOSA Project - Third and Fourth Milestones Report, João Cristovão, Carlos Marques, João Frazão, Pedro Lima, Isabel Ribeiro, ISR Technical Report, 2004

[12] RESCUE Project Final Report, Alexandre Bernardino, Luís Custódio, João Frazão, Pedro Lima, Francisco Melo, Isabel Ribeiro, José Santos-Victor, Alberto Vale, ISR Technical Report, 2004

[13] Survey on Cooperative Formation Flying Spacecraft Navigation, Guidance and Control Strategies Selection and Algorithms Identification - Conceptual Framework Definition, Pedro Lima, Sónia Marques, Andrés Gabriel Garcia, TN1-FEMDS, 2003

[14] Survey on Multi-Agent Systems: Feasibility, Techniques, Methodologies and Design Tool(s), Pedro Lima, Sónia Marques, TN2-FEMDS, 2003

[15] Phase I Report of Formation Estimation Methodologies for Distributed Spacecraft, Pedro Lima, Andrés Gabriel Garcia, Sónia Marques, P1R-FEMDS, 2003

[16] Application of Nonlinear Estimation Theory in TCR Triggering Model Identification, Dejan Milutinovic, Michael Athans, Pedro Lima, Jorge Carneiro, Technical Report RT-401-02, Instituto de Sistemas e Robótica, 2002

[17] Protótipo de um Automóvel Autónomo, João Frazão, Paulo Sargento, Pedro Lima, ISR Internal Report RT-401-2001, 2001

[18] Position Tracking for Underactuated Rigid Bodies on SE-3, Paulo Tabuada, Pedro Lima, ISR Internal Report RT-401-2000, 2000 – PDF

[19] Robótica Móvel - colecção de trabalhos realizados pelos alunos em 1999/2000, Pedro Lima, ISR Internal Report RT-403-00, 2000

[20] ISocRob-2000: technical report, Rodrigo Ventura, Filipe Toscano, Carlos Marques, Luís Custódio, Pedro Lima, ISR Technical Report RT-701-00, RT-402-00, 2000 – PDF

[21] Agent-Based Programming Language for Multi-Agent Teams, Rodrigo Ventura, Pedro Aparício, Pedro Lima, Technical Report RT-701-99, ISR, 1999 – PDF

[22] Interface Gráfica para Operação de Robots Cooperantes, Bruno Correia, Sérgio Saraiva, Rodrigo Ventura, Pedro Lima, Technical Report RT-703-99, ISR, 1999 – PDF

[23] RoboCup98 ISocRob Team Technical Reference, Rodrigo Ventura, Pedro Aparício, Pedro Lima, Technical Report RT-702-99, ISR, 1999 – PDF

[24] Robótica Móvel - colecção de trabalhos realizados pelos alunos em 1998/99, Pedro Lima, ISR Internal Report RT-408-99, 1999

[25] IQ99 - Robot Móvel Multitarefa, Bruno Câmara, José António Lopes, Pedro Lima, ISR Internal Report RT-406-99, 1999

[26] Robot Competidor, Carlos Marques, Nuno Portela, Pedro Lima, ISR Internal Report RT-406-98, 1998 – PDF

[27] Remote Control of a Mobile Robot Using Petri Nets, Anders Karlsson, Pedro Lima, ISR Internal Report RT-405-98, 1998 – PDF

[28] Attitude Control Strategies for Small Satellites, Paulo Tabuada, Pedro Alves, Pedro Tavares, Pedro Lima, ISR Internal Report RT-404-98, 1998 – PDF

[29] Sistema Integrado de Controlo e Operação de Forno de Vidro, João Pina, Pedro Lima, ISR Internal Report RT-403-98, 1998

[30] Geometric Feasibility of the ITER RH Casks and Extensions for Free Roaming Navigation, Isabel Ribeiro, Pedro Lima, Pedro Aparício, ISR Internal Report RT-402-98, Instituto de Sistemas e Robótica, Instituto Superior Técnico, 1998 – PDF

[31] CENTAURO - Veículo Autónomo com Sistema de Condução Automática Versátil, Paulo Silva, José Santos, Pedro Lima, ISR Internal Report RT-401-98, 1998

[32] Arquitectura Aberta de Controlo do PUMA 560 - versão 1.1, Pedro Lima, Nuno Martins, Dinis Fernandes, ISR Internal Report RT-404-97, 1997

[33] Simulação da Dinâmica de Atitude de Micro-Satélites, Bruno Sousa, Pedro Tavares, Pedro Lima, ISR Internal Report RT-403-97, 1997

[34] Robótica Móvel - colecção de trabalhos realizados pelos alunos em 1996/97, Pedro Lima, ISR Internal Report RT-402-97, 1997

[35] Conceptual Study on Flexible Guidance, Navigation and Docking Systems for the ITER RH Transport Casks, Isabel Ribeiro, Pedro Lima, Pedro Aparício, Renato Ferreira, ISR Internal Report RT-401-97, 1997 – PDF

[36] Robótica e Sistemas Autónomos - coleccão de trabalhos realizados pelos alunos em 1995/96, Pedro Lima, ISR Internal Report RT-403-96, 1996

[37] BARBANETA - Uma Plataforma Móvel Flexível, João Ferreira, Pedro Raposo, Pedro Aparício, Pedro Lima, ISR Internal Report RT-402-96, 1996

[38] Arquitectura Aberta de Controlo para um Manipulador PUMA 560, Nuno Moreira, Paulo Alvito, Pedro Lima, ISR Internal Report RT-401-96, 1996

[39] An Integrated Architecture for Learning, Planning and Reacting Applied to a Real Mobile Robot, Alex Weiser, Pedro Lima, ISR Internal Report RT-401-95, 1995 – PDF

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