ISRWiki - User contributions [en]

Autonomous Systems resources

2024-05-29T07:41:34Z

Pal: /* on Petri net representation of robot tasks */

== Robots ==

=== Real robots ===

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || IdMind Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
* [[Instructions]]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]
* [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:
** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.
** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.

|-
| [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

=== Simulated robots ===

{| border=1

|-
| [[Image:Astrobee.png|100px]] || NASA Astrobee
* https://github.com/nasa/astrobee
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)
|-
| [[Image:Husky.png|100px]] || Clearpath Husky
* http://wiki.ros.org/Robots/Husky
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic
|-
| [[Image:PX4drone.png|100px]] || PX4-based hexarotor
* https://dev.px4.io/master/en/simulation/gazebo.html
|| Works in:
* Ubuntu 18.04 + ROS Melodic (Suggested)
|-
| [[Image:UUVrobot.png|100px]] || UUVSimulator
* https://uuvsimulator.github.io/
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic
|-
| [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot
* https://github.com/socrob/mbot_simulation_sa/
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
|-
|}

== Guide for good presentations ==
* https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf

== Bibliography for projects ==

=== General ===
* [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]
* [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]
* [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]
* [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]
* [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]

=== on localization of the ITER vehicle ===
* [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]
* [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]
* [https://doi.org/10.1007/978-3-642-41610-1_9-1 Robot Task Modeling, P. U. Lima, Encyclopedia of Robotics - Editors Editors: Marcelo H. Ang Jr., Oussama Khatib and Bruno Siciliano, Springer, 2020]
* Error Monitoring, Conflict Resolution and Decision-Making, P. U. Lima, in Perception-reason-action cycle: Models, algorithms and systems, J. G. Taylor, D. Polani, A. Hussain, and N. Tish (Eds.), Springer-Verlag, 2010

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]


=== on Wi-Fi localization ===
* [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]
* [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]

=== on magnetic field based localization ===
* [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]
* [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]

=== on Reinforcement Learning ===
* [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton & Barto (1998 + draft 2017)]

=== on geometric self-calibration ===
* [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]

== Software and Miscellaneous ==
=== Home Automation and Fusion projects ===

Software and Hardware for [[ Home Automation ]]

==== IP Cams ====
===== Hardware =====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

===== Software =====

* GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== Maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== Demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!
* Example in ROS -- [https://github.com/MarceloJacinto/demo_ros github repository]

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

=== UWB devices ===
* ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb
* [[Media:ReadMe UWB.pdf|FAQ]]

Autonomous Systems resources

2024-05-29T07:39:58Z

Pal: /* on Petri net representation of robot tasks */

== Robots ==

=== Real robots ===

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || IdMind Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
* [[Instructions]]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]
* [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:
** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.
** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.

|-
| [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

=== Simulated robots ===

{| border=1

|-
| [[Image:Astrobee.png|100px]] || NASA Astrobee
* https://github.com/nasa/astrobee
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)
|-
| [[Image:Husky.png|100px]] || Clearpath Husky
* http://wiki.ros.org/Robots/Husky
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic
|-
| [[Image:PX4drone.png|100px]] || PX4-based hexarotor
* https://dev.px4.io/master/en/simulation/gazebo.html
|| Works in:
* Ubuntu 18.04 + ROS Melodic (Suggested)
|-
| [[Image:UUVrobot.png|100px]] || UUVSimulator
* https://uuvsimulator.github.io/
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic
|-
| [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot
* https://github.com/socrob/mbot_simulation_sa/
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
|-
|}

== Guide for good presentations ==
* https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf

== Bibliography for projects ==

=== General ===
* [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]
* [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]
* [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]
* [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]
* [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]

=== on localization of the ITER vehicle ===
* [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]
* [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Robot Task Modeling, P. U. Lima, Encyclopedia of Robotics - Editors Editors: Marcelo H. Ang Jr., Oussama Khatib and Bruno Siciliano, Springer, 2020]
* Error Monitoring, Conflict Resolution and Decision-Making, P. U. Lima, in Perception-reason-action cycle: Models, algorithms and systems, J. G. Taylor, D. Polani, A. Hussain, and N. Tish (Eds.), Springer-Verlag, 2010

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]


=== on Wi-Fi localization ===
* [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]
* [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]

=== on magnetic field based localization ===
* [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]
* [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]

=== on Reinforcement Learning ===
* [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton & Barto (1998 + draft 2017)]

=== on geometric self-calibration ===
* [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]

== Software and Miscellaneous ==
=== Home Automation and Fusion projects ===

Software and Hardware for [[ Home Automation ]]

==== IP Cams ====
===== Hardware =====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

===== Software =====

* GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== Maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== Demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!
* Example in ROS -- [https://github.com/MarceloJacinto/demo_ros github repository]

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

=== UWB devices ===
* ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb
* [[Media:ReadMe UWB.pdf|FAQ]]

Administrative checklist

2024-01-08T15:26:04Z

Pal: /* ACTIVITIES FUNDED BY LARSyS (PLURIANNUAL) BUDGET (FCT rules) */

== Affiliation ==

It is strongly recommended to all researchers to create Google Scholar profiles with the complete affiliation:

<code>Institute for Systems and Robotics (ISR/IST), LARSyS, Instituto Superior Técnico, Univ Lisboa</code>

== Funding acknowledgments ==

'''(updated 24.07.2023)'''

=== ACTIVITIES FUNDED BY LARSyS (PLURIANNUAL) BUDGET (FCT rules) ===

<code>If your work is partially or totally funded by one or more than one of LARSyS projects, you shall now use the DOI attributed to each one of them, being:
• UIDB/50009/2020 - DOI 10.54499/UIDB/50009/2020;
• UIDP/50009/2020 - DOI 10.54499/UIDP/50009/2020;
• LA/P/0083/2020 - DOI 10.54499/LA/P/0083/2020.

=== ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===

<code>This work was supported by project [CONTRACT REFERENCE HERE]</code>

(example PTDC/EEA-CRO/111197/2009 MAST AM)

=== ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===

example (replace grant reference)

<code>Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.</code>

=== EU PROJECTS ===

<code>This work was partially funded by EU Project ACRONYM</code>

Obviously if more than one funding source is involved, one needs to combine several of these references together.

Example

<code>This work was partially funded by LARSyS - FCT Project UIDB/50009/2020 and EU Project MYGOD</code>

This is very important since the incorrect acknowledgment to the funding agency will cause ELIGIBILITY problems.

== For conference trips ==

Must provide the following information items AT LEAST 15 DAYS BEFORE DEPARTURE:
* Conference name, place, and URL
* Final version of the paper to be presented, if any
* Acceptance document (can be an email) or formal invitation
* Trip dates (departure and arrival)
* Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)
* Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)
* Whether ''ajudas de custo'' are at 100% or 70%
** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately
** if 70% is attributed it is also necessary to indicate the number of nights and nightly rate
** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)
* Conference registration cost (with proof document, e.g. invoice or printout of registration form)

During the trip do not forget to:
* keep the '''boarding passes''' for all airplane legs
* bring an invoice/receipt of the conference registration, including the reference to IST VAT nr 501507930 or IST-ID VAT nr 509830072 somewhere (the address field is usually the best place)
* bring a conference participation certificate
* a confirmation of the number of stars of the hotel
and send all these items to the ISR admin team after the return

== Purchases ==

Send to the ISR secretariat a proposal complying with the following rules:

* FUNDING SOURCE: '''IST'''
** addressed to '''Instituto Superior Tecnico''' (adjust address as needed, for example adding: Av. Rovisco Pais 1, ISR - Torre Norte)
** containing VAT number: '''501507930'''
** containing a proposal reference number
** with and without IVA (VAT)
** validity of 66 days (if it is omitted it is assumed to be 66 days)
** containing the delivery date
** containing the payment conditions (at least 30 days)

* FUNDING SOURCE: '''IST-ID'''
** addressed to '''IST-ID''' (adjust address as needed, for example adding: Av. António José de Almeida, n.º 12 1000-043 Lisboa
** containing VAT number: '''509830072'''
** containing a proposal reference number
** with and without IVA (VAT)
** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)
** containing the delivery date
** containing the payment conditions (at least 30 days)

There is a list of products (mostly office supplies) that *should* be bought via Economato's stock, not externally. The list of products can be found here: [http://nca.ist.utl.pt/files/Listagem-artigos-Economato-jan-2013.pdf Listagem-artigos-Economato-jan-2013.pdf]

== Grants ==

For requesting a grant, the following forms have to be filled-in and sent to the secretariat: '''B5''' and '''Minuta de edital'''.

The Word templates for these (and other) forms can be found here: https://drh.tecnico.ulisboa.pt/bolseiros/formularios/

== NIF Request ==
To issue a Portuguese Tax Identification Number for various purposes, the International Affairs Area has, together with the Tax Authority and Técnico Lisboa's Legal Department, streamlined a mechanism that will make this process as easy as possible.

Those interested will need to gather the following documentation:

1 - Students from the European Union:

Power of attorney with powers of representation so that a third party can apply to the Tax and Customs Authority for a tax number. This power of attorney must have a notarized signature;
A notarized copy of the identification document;
Certificate of Registration as a Citizen of the European Union (Law no. 37/206 of August 9) or proof of residence in the country of origin;

2 - Students from countries outside the European Union:

2.1 - If considered resident in Portugal under the terms of Article 19(6) of the LGT and Article 16 of the CIRS:

Power of attorney and identification document as described in no. 1;

2.2 - If they are not considered to be resident in Portugal:

The power of attorney will have to include the appointment of a tax representative;
And proof of residence from the country of origin will be required;

[https://drive.google.com/drive/folders/1Y5l-dUiGrjmjYQmCba9eBA7DDw9wiU_d?usp=drive_link Here] you can access the drafts of the powers of attorney that must be used for these applications.

To count on the support of the Tecnico Legal Department for the necessary signature recognition, the services must reply to this email indicating the applicant's name, nationality and email contact by October 3, 2023.

Subsequently, the applicant will be informed of the service, the place and time where they should go, and must be accompanied by the aforementioned documents. All documents, with the exception of those signed by Prof. Rogério Colaço, must only be signed when the signature is acknowledged in the presence of the lawyer. The files will remain in the lawyer's possession and will then be handed over to the International Affairs Department, which will then collect Professor Rogério Colaço's signature. Please ensure that the full text of the powers of attorney is not altered, otherwise, they will not be accepted by the Tax Authority. We would also like to inform you that you are responsible for checking the documents that make up each file, with the support of the research centre/area/department/unit. The International Affairs Area will only be the interlocutor in this process: it will receive the files in order to hand them over to the Tax Authority. Once the TIN has been assigned, the files follow the reverse route and are sent to the heads of the research unit/area/department.

Administrative checklist

2020-01-31T10:44:03Z

Pal: /* Funding acknowledgments */

== Affiliation ==

It is strongly recommended to all researchers to create Google Scholar profiles with the complete affiliation:

<code>Institute for Systems and Robotics (ISR/IST), LARSyS, Instituto Superior Técnico, Univ Lisboa</code>

== Funding acknowledgments ==

'''(updated 31-Jan-2020)'''

=== ACTIVITIES FUNDED BY LARSyS (PLURIANUAL) BUDGET (FCT rules) ===

<code>This work was supported by the LARSyS - FCT Plurianual funding 2020-2023

=== ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===

<code>This work was supported by project [CONTRACT REFERENCE HERE]</code>

(example PTDC/EEA-CRO/111197/2009 MAST AM)

=== ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===

example (replace grant reference)

<code>Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.</code>

=== EU PROJECTS ===

<code>This work was partially funded by EU Project ACRONYM</code>

Obviously if more than one funding source is involved, one needs to combine several of these references together.

Example

<code>This work was partially funded by FCT [UID/EEA/50009/2019] and EU Project MYGOD</code>

This is very important since the incorrect acknowledgment to the funding agency will cause ELIGIBILITY problems.

== For conference trips ==

All professors and researchers have to ask their secretariat for taking care of ''Modelo 94'' form. To do that, send her/him the following information. NOTE THAT THIS INFORMATION HAS TO BE SENT AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE!
* Conference name, place, and URL
* Final version of the paper to be presented, if any
* Acceptance document (can be an email) or formal invitation
* Trip dates (departure and arrival)
* Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)
* Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)
* Whether ''ajudas de custo'' are at 100% or 70%
** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately
** if 70% is choosen, also indicate number of nights and nightly rate
** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)
* Conference registration cost (with proof document, e.g. invoice or printout of registration form)

In case of being a professor at IST, one has also to contact the ''Area Científica/Secção/Departamento'' for secretariat for obtaining an authorization of leave, indicating the following information ALSO AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE.
* Conference name, place, and URL
* Final version of the paper to be presented, if any
* Acceptance document (can be an email) or formal invitation
* Trip dates (departure and arrival)
* ''Modelo 94'', usually sent by ISR secretariat directly (but check for it anyway)

During the trip do not forget to:
* keep the '''boarding passes''' for all airplane legs
* bring an invoice/receipt of the conference registration, '''including''' the reference '''IST-501507930''' somewhere (the address field is usually the best place)
* bring a conference participation certificate
* a confirmation of the number of stars of the hotel
and send all these items to the ISR secretariar after the return

== Purchases ==

Send to the ISR secretariat a proposal complying with the following rules:

* FUNDING SOURCE: '''IST'''
** addressed to '''Instituto Superior Tecnico''' (adjust address as needed, for example adding: Av. Rovisco Pais 1, ISR - Torre Norte)
** containing VAT number: '''501507930'''
** containing a proposal reference number
** with and without IVA (VAT)
** validity of 66 days (if it is omitted it is assumed to be 66 days)
** containing the delivery date
** containing the payment conditions (at least 30 days)

* FUNDING SOURCE: '''IST-ID'''
** addressed to '''IST-ID''' (adjust address as needed, for example adding: Av. Rovisco Pais 1, ISR - Torre Norte)
** containing VAT number: '''509830072'''
** containing a proposal reference number
** with and without IVA (VAT)
** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)
** containing the delivery date
** containing the payment conditions (at least 30 days)

Versão Portuguesa:
* FONTE DE FINANCIAMENTO: '''IST'''
** endereçada a '''Instituto Superior Técnico''' (ajustar morada conforme necessário, por exemplo adicionar: Av. Rovisco Pais 1, ISR - Torre Norte)
** contendo o seguinte NIF: '''501507930'''
** contendo um número de proposta
** preços com e sem IVA
** validade da proposta de 66 dias (se for omitida, será assumida uma validade de 66 dias)
** contendo um prazo de entrega
** contendo as condições de pagamento (pelo menos 30 dias)

* FONTE DE FINANCIAMENTO: '''IST-ID''' (ajustar morada conforme necessário, por exemplo adicionar: Av. Rovisco Pais 1, ISR - Torre Norte)
** endereçada a '''IST-ID'''
** contendo o seguinte NIF: '''509830072'''
** contendo um número de proposta
** preços com e sem IVA
** validade da proposta de 66 dias (se for omitida, será assumida uma validade de 66 dias)
** contendo um prazo de entrega
** contendo as condições de pagamento (pelo menos 30 dias)

[[Códigos CPV para aquisições]]

There is a list of products (mostly office supplies) that *should* be bought via Economato's stock, not externally. The list of products can be found here: [http://nca.ist.utl.pt/files/Listagem-artigos-Economato-jan-2013.pdf Listagem-artigos-Economato-jan-2013.pdf]

== Grants ==

For requesting a grant, the following forms have to be filled-in and sent to the secretariat: '''B5''' and '''Minuta de edital'''.

The Word templates for these (and other) forms can be found here: http://drh.ist.utl.pt/bolseiros/formularios/

Administrative checklist

2020-01-31T10:43:24Z

Pal: /* ACTIVITIES FUNDED BY LARSyS (PLURIANUAL) BUDGET (FCT rules) */

== Affiliation ==

It is strongly recommended to all researchers to create Google Scholar profiles with the complete affiliation:

<code>Institute for Systems and Robotics (ISR/IST), LARSyS, Instituto Superior Técnico, Univ Lisboa</code>

== Funding acknowledgments ==

'''(updated 19-Feb-2019)'''

=== ACTIVITIES FUNDED BY LARSyS (PLURIANUAL) BUDGET (FCT rules) ===

<code>This work was supported by the LARSyS - FCT Plurianual funding 2020-2023

=== ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===

<code>This work was supported by project [CONTRACT REFERENCE HERE]</code>

(example PTDC/EEA-CRO/111197/2009 MAST AM)

=== ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===

example (replace grant reference)

<code>Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.</code>

=== EU PROJECTS ===

<code>This work was partially funded by EU Project ACRONYM</code>

Obviously if more than one funding source is involved, one needs to combine several of these references together.

Example

<code>This work was partially funded by FCT [UID/EEA/50009/2019] and EU Project MYGOD</code>

This is very important since the incorrect acknowledgment to the funding agency will cause ELIGIBILITY problems.

== For conference trips ==

All professors and researchers have to ask their secretariat for taking care of ''Modelo 94'' form. To do that, send her/him the following information. NOTE THAT THIS INFORMATION HAS TO BE SENT AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE!
* Conference name, place, and URL
* Final version of the paper to be presented, if any
* Acceptance document (can be an email) or formal invitation
* Trip dates (departure and arrival)
* Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)
* Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)
* Whether ''ajudas de custo'' are at 100% or 70%
** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately
** if 70% is choosen, also indicate number of nights and nightly rate
** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)
* Conference registration cost (with proof document, e.g. invoice or printout of registration form)

In case of being a professor at IST, one has also to contact the ''Area Científica/Secção/Departamento'' for secretariat for obtaining an authorization of leave, indicating the following information ALSO AT LEAST 15 DAYS BEFORE THE DEPARTURE DATE.
* Conference name, place, and URL
* Final version of the paper to be presented, if any
* Acceptance document (can be an email) or formal invitation
* Trip dates (departure and arrival)
* ''Modelo 94'', usually sent by ISR secretariat directly (but check for it anyway)

During the trip do not forget to:
* keep the '''boarding passes''' for all airplane legs
* bring an invoice/receipt of the conference registration, '''including''' the reference '''IST-501507930''' somewhere (the address field is usually the best place)
* bring a conference participation certificate
* a confirmation of the number of stars of the hotel
and send all these items to the ISR secretariar after the return

== Purchases ==

Send to the ISR secretariat a proposal complying with the following rules:

* FUNDING SOURCE: '''IST'''
** addressed to '''Instituto Superior Tecnico''' (adjust address as needed, for example adding: Av. Rovisco Pais 1, ISR - Torre Norte)
** containing VAT number: '''501507930'''
** containing a proposal reference number
** with and without IVA (VAT)
** validity of 66 days (if it is omitted it is assumed to be 66 days)
** containing the delivery date
** containing the payment conditions (at least 30 days)

* FUNDING SOURCE: '''IST-ID'''
** addressed to '''IST-ID''' (adjust address as needed, for example adding: Av. Rovisco Pais 1, ISR - Torre Norte)
** containing VAT number: '''509830072'''
** containing a proposal reference number
** with and without IVA (VAT)
** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)
** containing the delivery date
** containing the payment conditions (at least 30 days)

Versão Portuguesa:
* FONTE DE FINANCIAMENTO: '''IST'''
** endereçada a '''Instituto Superior Técnico''' (ajustar morada conforme necessário, por exemplo adicionar: Av. Rovisco Pais 1, ISR - Torre Norte)
** contendo o seguinte NIF: '''501507930'''
** contendo um número de proposta
** preços com e sem IVA
** validade da proposta de 66 dias (se for omitida, será assumida uma validade de 66 dias)
** contendo um prazo de entrega
** contendo as condições de pagamento (pelo menos 30 dias)

* FONTE DE FINANCIAMENTO: '''IST-ID''' (ajustar morada conforme necessário, por exemplo adicionar: Av. Rovisco Pais 1, ISR - Torre Norte)
** endereçada a '''IST-ID'''
** contendo o seguinte NIF: '''509830072'''
** contendo um número de proposta
** preços com e sem IVA
** validade da proposta de 66 dias (se for omitida, será assumida uma validade de 66 dias)
** contendo um prazo de entrega
** contendo as condições de pagamento (pelo menos 30 dias)

[[Códigos CPV para aquisições]]

There is a list of products (mostly office supplies) that *should* be bought via Economato's stock, not externally. The list of products can be found here: [http://nca.ist.utl.pt/files/Listagem-artigos-Economato-jan-2013.pdf Listagem-artigos-Economato-jan-2013.pdf]

== Grants ==

For requesting a grant, the following forms have to be filled-in and sent to the secretariat: '''B5''' and '''Minuta de edital'''.

The Word templates for these (and other) forms can be found here: http://drh.ist.utl.pt/bolseiros/formularios/

Intelligent Robots and Systems Group

2017-10-08T14:56:22Z

Pal: /* PhD Theses */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* HARODE - Human-aware service robots for domestic environments (FCT PTDC/EEI-SII/4698/2014)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems
* [http://space-cobot.isr.tecnico.ulisboa.pt/ Space CoBot] (ISR internal) - Collaborative service robot for microgravity environments (space robotics)
* [[IEEE CEMRA]] - Autonomous mobile robot programming using ROS on a remote web-based real robot lab

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.lisboarobotics.com/pt/ — '''Lisboa Robotics Cluster'''
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2017]]
* [[Ocupação Científica de Jovens nas Férias 2016]]
* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2017-10-08T14:37:53Z

Pal: /* PhD Theses */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* HARODE - Human-aware service robots for domestic environments (FCT PTDC/EEI-SII/4698/2014)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems
* [http://space-cobot.isr.tecnico.ulisboa.pt/ Space CoBot] (ISR internal) - Collaborative service robot for microgravity environments (space robotics)
* [[IEEE CEMRA]] - Autonomous mobile robot programming using ROS on a remote web-based real robot lab

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2015/05/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.lisboarobotics.com/pt/ — '''Lisboa Robotics Cluster'''
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2017]]
* [[Ocupação Científica de Jovens nas Férias 2016]]
* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2017-07-05T14:24:21Z

Pal: /* Institutional Links */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* HARODE - Human-aware service robots for domestic environments (FCT PTDC/EEI-SII/4698/2014)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems
* [http://space-cobot.isr.tecnico.ulisboa.pt/ Space CoBot] (ISR internal) - Collaborative service robot for microgravity environments (space robotics)
* [[IEEE CEMRA]] - Autonomous mobile robot programming using ROS on a remote web-based real robot lab

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.lisboarobotics.com/pt/ — '''Lisboa Robotics Cluster'''
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2016]]
* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2017-07-05T14:23:33Z

Pal: /* Institutional Links */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* HARODE - Human-aware service robots for domestic environments (FCT PTDC/EEI-SII/4698/2014)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems
* [http://space-cobot.isr.tecnico.ulisboa.pt/ Space CoBot] (ISR internal) - Collaborative service robot for microgravity environments (space robotics)
* [[IEEE CEMRA]] - Autonomous mobile robot programming using ROS on a remote web-based real robot lab

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* https://www.lisboarobotics.com — '''Lisboa Robotics Cluster'''
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2016]]
* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2017-07-05T14:20:53Z

Pal: /* Institutional Links */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* HARODE - Human-aware service robots for domestic environments (FCT PTDC/EEI-SII/4698/2014)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems
* [http://space-cobot.isr.tecnico.ulisboa.pt/ Space CoBot] (ISR internal) - Collaborative service robot for microgravity environments (space robotics)
* [[IEEE CEMRA]] - Autonomous mobile robot programming using ROS on a remote web-based real robot lab

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial
* https://www.lisboarobotics.pt — '''Lisboa Robotics Cluster'''

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2016]]
* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

File:PhDThesis PFazenda.pdf

2017-01-02T12:09:10Z

Pal:

Planning under Uncertainty

2016-11-19T16:23:39Z

Pal: /* Projects */

== Introduction ==
In the Intelligent Systems Lab, one of the research foci is planning under uncertainty. That is, we compute plans for single agents as well
as cooperative multiagent systems, in domains in which an agent is uncertain about the exact consequences of its actions. Furthermore,
it is equipped with imperfect sensors, resulting in noisy sensor readings which provide only limited
information.

For single agents, such planning problems are naturally framed in
the partially observable Markov decision process (POMDP) paradigm. In a POMDP, uncertainty in acting
and sensing is captured in probabilistic models, and allows an agent to plan
on its belief state, which summarizes all the information the agent has received
regarding its environment. For the multiagent case, we frame our planning problem in
the decentralized POMDP (Dec-POMDP) framework.

== Projects ==

* [http://gaips.inesc-id.pt/inside/ INSIDE]
* [http://gaips.inesc-id.pt/mais-s/ IMAIS+S]
* [http://decpucs.isr.ist.utl.pt DecPUCS]

== Software ==
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS], by João Messias
* [http://www.fransoliehoek.net/index.php?fuseaction=software.madp MADP], Multiagent decision process toolbox by Matthijs Spaan and Frans Oliehoek
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains], by Matthijs Spaan
* [http://dante.isr.tecnico.ulisboa.pt/tsveiga/POMDPSolvers POMDP Solvers], repository created by Tiago Veiga - check the folder
'SymbolicPerseusIR' for Tiago's POMDP-IR code, that endows POMDPs with special actions which enable rewarding beliefs instead
of states, without modifying the traditional solution of PODMPs (value function remains PWLC).

Check also
* [http://www.openmarkov.org/ OpenMarkov] - output .pgmx files are recognized by Tiago's POMDP-IR code and MADP

Planning under Uncertainty

2016-11-19T16:20:44Z

Pal: /* Software */

== Introduction ==
In the Intelligent Systems Lab, one of the research foci is planning under uncertainty. That is, we compute plans for single agents as well
as cooperative multiagent systems, in domains in which an agent is uncertain about the exact consequences of its actions. Furthermore,
it is equipped with imperfect sensors, resulting in noisy sensor readings which provide only limited
information.

For single agents, such planning problems are naturally framed in
the partially observable Markov decision process (POMDP) paradigm. In a POMDP, uncertainty in acting
and sensing is captured in probabilistic models, and allows an agent to plan
on its belief state, which summarizes all the information the agent has received
regarding its environment. For the multiagent case, we frame our planning problem in
the decentralized POMDP (Dec-POMDP) framework.

== Projects ==

* [http://mediawiki.isr.ist.utl.pt/wiki/From_Bio-Inspired_to_Institutional-Inspired_Collective_Robotics MAIS+S]
* [http://decpucs.isr.ist.utl.pt DecPUCS] project pages.

== Software ==
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS], by João Messias
* [http://www.fransoliehoek.net/index.php?fuseaction=software.madp MADP], Multiagent decision process toolbox by Matthijs Spaan and Frans Oliehoek
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains], by Matthijs Spaan
* [http://dante.isr.tecnico.ulisboa.pt/tsveiga/POMDPSolvers POMDP Solvers], repository created by Tiago Veiga - check the folder
'SymbolicPerseusIR' for Tiago's POMDP-IR code, that endows POMDPs with special actions which enable rewarding beliefs instead
of states, without modifying the traditional solution of PODMPs (value function remains PWLC).

Check also
* [http://www.openmarkov.org/ OpenMarkov] - output .pgmx files are recognized by Tiago's POMDP-IR code and MADP

Planning under Uncertainty

2016-11-19T16:19:11Z

Pal:

== Introduction ==
In the Intelligent Systems Lab, one of the research foci is planning under uncertainty. That is, we compute plans for single agents as well
as cooperative multiagent systems, in domains in which an agent is uncertain about the exact consequences of its actions. Furthermore,
it is equipped with imperfect sensors, resulting in noisy sensor readings which provide only limited
information.

For single agents, such planning problems are naturally framed in
the partially observable Markov decision process (POMDP) paradigm. In a POMDP, uncertainty in acting
and sensing is captured in probabilistic models, and allows an agent to plan
on its belief state, which summarizes all the information the agent has received
regarding its environment. For the multiagent case, we frame our planning problem in
the decentralized POMDP (Dec-POMDP) framework.

== Projects ==

* [http://mediawiki.isr.ist.utl.pt/wiki/From_Bio-Inspired_to_Institutional-Inspired_Collective_Robotics MAIS+S]
* [http://decpucs.isr.ist.utl.pt DecPUCS] project pages.

== Software ==
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS], by João Messias
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox], by Matthijs Spaan and Frans Oliehoek
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains], by Matthijs Spaan
* [http://dante.isr.tecnico.ulisboa.pt/tsveiga/POMDPSolvers POMDP Solvers], repository created by Tiago Veiga - check the folder
'SymbolicPerseusIR' for Tiago's POMDP-IR code, that endows POMDPs with special actions which enable rewarding beliefs instead
of states, without modifying the traditional solution of PODMPs (value function remains PWLC).

Check also
* [http://www.openmarkov.org/ OpenMarkov] - output .pgmx files are recognized by Tiago's POMDP-IR code above
* [http://www.fransoliehoek.net/index.php?fuseaction=software.madp MADP] MADP (also recognises .pgmx files)

Intelligent Robots and Systems Group

2016-11-19T16:09:42Z

Pal: /* Software */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-11-19T16:07:13Z

Pal: /* Software */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://dante.isr.tecnico.ulisboa.pt/tsveiga/POMDPSolvers POMDP Solvers]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-11-19T16:05:26Z

Pal: /* Institutional Links */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.sprobotica.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-11-19T16:04:39Z

Pal: /* Institutional Links */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* https://eu-robotics.net/eurobotics — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-11-19T16:01:05Z

Pal: /* Projects */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [https://eu-robotics.net/robotics_league/ RockEU2: Robotics Coordination Action for Europe Two] (H2020-ICT-2015, 2016-2018)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-11-15T10:15:02Z

Pal: /* PhD Theses */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* '''RockEU2''' - Robotics Coordination Action for Europe Two (H2020-ICT-2015)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_PFazenda.pdf|Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces]], Pedro Fazenda, 2016.
* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-11-15T10:12:54Z

Pal: /* People */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* '''RockEU2''' - Robotics Coordination Action for Europe Two (H2020-ICT-2015)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-02-15T19:02:38Z

Pal: /* Current projects */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* '''RockEU2''' - Robotics Coordination Action for Europe Two (H2020-ICT-2015)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-02-15T19:01:54Z

Pal: /* Current projects */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* RockEU2 - Robotics Coordination Action for Europe Two (H2020-ICT-2015)
* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-02-15T18:57:50Z

Pal: /* Robots and Infrastructures */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [http://isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Test Bed] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-02-15T18:54:31Z

Pal: /* Robots */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots and Infrastructures ==
* [isrobonet_athome.isr.tecnico.ulisboa.pt ISRoboNet@Home Infrastructure] - funded by several EU Projects since FP6
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T12:42:54Z

Pal: /* Repository */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc. (accessible only from inside ISR network).

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:40:54Z

Pal: /* People */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro U. Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:40:19Z

Pal: /* People */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* [http://welcome.isr.tecnico.ulisboa.pt/author/carlosalberto/ Carlos Pinto-Ferreira]
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:39:44Z

Pal: /* People */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://users.isr.ist.utl.pt/~tsveiga/ Tiago Veiga]
* [http://welcome.isr.tecnico.ulisboa.pt/author/meysam/ Meysam Basiri]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:36:30Z

Pal: /* People */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:36:14Z

Pal: /* Current projects */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2016)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:35:54Z

Pal: /* Projects */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:35:28Z

Pal: /* Scientific Activities for Youngsters */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]

Intelligent Robots and Systems Group

2016-01-28T11:34:16Z

Pal: /* Scientific Activities for Youngsters */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2011)
* [[Ocupação Científica de Jovens nas Férias 2015]]
* [[Ocupação Científica de Jovens nas Férias 2014]]
* [[Ocupação Científica de Jovens nas Férias 2013]]
* [[Ocupação Científica de Jovens nas Férias 2012]]

Intelligent Robots and Systems Group

2016-01-28T11:33:09Z

Pal: /* Scientific Activities for Youngsters */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]
* [[CtxtBasedMod |Context-based Thermodynamic Modeling of Buildings Spaces]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]
* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays] (2001-2010)

Intelligent Robots and Systems Group

2016-01-18T17:32:03Z

Pal:

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

Click [https://youtu.be/el-gW-IVV-M here for a video] highlighting some of our past research.

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2016-01-15T17:00:41Z

Pal:

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2016-01-15T16:59:55Z

Pal:

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Datasets ==

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2016-01-07T19:33:32Z

Pal: /* Workshops */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [https://clawar.org/clawar2016/program/workshops-tutorials/ CLAWAR Workshops on Robot Ethics and on Designing for Interaction in Social Robotics] (September 2016)
* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2015-12-08T19:47:35Z

Pal: /* Robots */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==
[[Image:GasparHead.jpg|100px]]
We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

File:GasparHead.jpg

2015-12-08T19:46:44Z

Pal:

File:GasparMordomo.jpg

2015-12-08T19:46:18Z

Pal:

Intelligent Robots and Systems Group

2015-12-08T19:43:49Z

Pal: /* Robots */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==

We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka ''Gasparzinho'' or ''MORDOMO''
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2015-12-08T19:43:05Z

Pal:

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Robots ==

We have developed several robots all over the years at the IRS group. Here's some of the most recent ones:
* [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot] aka 'Gasparzinho' or 'MORDOMO'
* [[RAPOSA_robot | RAPOSA]]
* [[ISR-CoBot]]
* [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2015-12-08T19:39:19Z

Pal: /* Other research */

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]

* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

File:IRSg.png

2015-12-08T17:57:29Z

Pal: uploaded a new version of "File:IRSg.png"

File:IRSg.png

2015-12-08T17:55:29Z

Pal: uploaded a new version of "File:IRSg.png"

File:IRSg.png

2015-12-08T17:53:38Z

Pal:

Intelligent Robots and Systems Group

2015-12-08T17:53:15Z

Pal:

[[Image:IRSg_logo_600.png|300px]] [[Image:IRSg.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]
* [[Humanoid Robotics]]
* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]

Intelligent Robots and Systems Group

2015-12-08T17:51:43Z

Pal:

[[Image:IRSg_logo_600.png|300px]]

== People ==

Active PhD members of the lab:

* [http://www.isr.ist.utl.pt/~mir/ Maria Isabel Ribeiro]
* [http://www.isr.ist.utl.pt/~pal/ Pedro Lima]
* Carlos Pinto-Ferreira
* [http://www.isr.ist.utl.pt/~jseq/ João Sequeira]
* [http://www.isr.ist.utl.pt/~cfb/ Carlos Bispo]
* [http://www.isr.ist.utl.pt/~lmmc/ Luis Custódio]
* [http://www.isr.ist.utl.pt/~yoda/ Rodrigo Ventura]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=363 Pedro Miraldo]
* [http://welcome.isr.tecnico.ulisboa.pt/labs/irsgroup/people/index.asp?accao=showpeople&id_people=362 José Acevedo]

== Projects ==

The IRS group has been involved in several financed projects, both European and national.

=== Current projects ===

* [http://gaips.inesc-id.pt/inside/ INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development] (CMU-Portugal ERI, 2014-2018)
* [http://monarch-fp7.eu MOnarCH – Multi-Robot Cognitive Systems Operating in Hospitals] (EU FP7, 2013-2015)
* [http://rockinrobotchallenge.eu RoCKIn: Robot Competitions Kick Innovation in Cognitive Systems and Robotics] (EU FP7, 2013-2015)
* [http://socrob.isr.ist.utl.pt SocRob: Society of Robots] (ISR internal) - Home, Rescue and Soccer Networked Robot Systems

=== Past projects ===
* [[AuReRo: Augmented Reality Robotics]] (FCT, 2010-2013)
* '''BioInstBots''' [[From Bio-Inspired to Institutional-Inspired Collective Robotics]] (FCT, 2010-2013)
* '''DARE''' (FCT)
* [http://decpucs.isr.ist.utl.pt DecPUCS: Decentralized Planning Under Uncertainty for Cooperative Systems] (FCT, 2007-2010)
* '''FEMDS''': Formation Estimation Methodologies for Distributed Spacecraft (ESA)
* '''HROSS''': High Resolution Optical Satellite Sensor (EUCLID RTP9.9)
* '''ITER-RH''' [http://www.ipfn.ist.utl.pt/rh/ Activities Related to the Development of an Air Transfer System Prototype and Cask Transfer System Virtual Mock-up] (EURATOM Fusion for Energy / ITER)
* '''LABELEC''' [http://lrm.isr.ist.utl.pt/lrm/projects/labelec/ Laser range systems to measure live power installations]
* [http://gaips.inesc-id.pt/mais-s/ MAIS-S: Multiagent Intelligent Surveillance System] (CMU-Portugal, 2010-2013)
* '''MS-AGENCY''' (FCT)
* '''MVFLAU''': Feasibility Study of In-Flight Model validation and Performance Analysis of Launchers GNC (ESA, 2013-2015)
* [[PCMMC: Perception-Driven Coordinated Multi-Robot Motion Control]] (FCT, 2010-2012)
* [http://raposa.isr.ist.utl.pt RAPOSA] (AdI)
* [http://rescue.isr.ist.utl.pt RESCUE] (FCT, internal)
* [http://users.isr.ist.utl.pt/~jseq/RIOL/ RIOL: Robotic inspection over power lines] (FCT)
* [http://socrob.isr.ist.utl.pt SocRob2004/FCT]
* [http://urus.upc.es URUS: Ubiquitous Networking Robotics in Urban Settings] (EU FP7 Leonardo da Vinci)
* [http://artica.cc/red/2013/12/06/usora.html USORA: Unified Solution of Remote Access in Practical Vocational Engineering Education] (EU FP6)

* [http://lci.isr.ist.utl.pt/projects/ projects of the former Intelligent Control Lab]

== Other research ==

Current research is being conducted by IRS group members in these core areas:

* [[Institutional Robotics]]
* [[Field Robotics]]
* [[Humanoid Robotics]]
* [[Formation State Estimation and Control]]
* [[Discrete Event Systems Based Robotic Task Modeling]]
* [[Planning under Uncertainty]]
* [[Cooperative Active Perception]]
* [[Cognitive Architectures]]

== PhD Theses ==

An overview of PhD theses (co-)supervised by IRS group members.

* [[Media:PhDThesis_TiagoVeiga.pdf|Information Gain and Value Function Approximation in Task Planning Using POMDPs]], Tiago Veiga, 2015.
* [[Media:ADias_PhDThesis.pdf|Multi-Robot 3D Target Estimation Under Uncertainty]], André Dias, 2015.
* [[Media:MBasiri_PhDThesis.pdf|Audio-based Swarming Micro Aerial Vehicles]], Meysam Basiri, 2015.
* [[Media:jmessias_PhDThesis.pdf|Decision-Making under Uncertainty for Real Robot Teams]], João Messias, 2014.
* [[Media:JNPereira_thesis.pdf|Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems]], José Nuno Pereira, 2014.
* [[Media:BrunoLacerda_thesis.pdf|Supervision of Discrete Event Systems Based on Temporal Logic Specifications]], Bruno Lacerda, 2013.
* [[Media:Thesis_Aamir.pdf|An Integrated Bayesian Approach to Multi-Robot Cooperative Perception]], Aamir Ahmad, 2013.
* [[Media:Thesis_Karim.pdf|Active Cooperative Perception in Networked Robot Systems]], Abdolkarim Pahliani, 2012.
* [[Media:GNeto_Thesis-Final.pdf|Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning]], Gonçalo Neto, 2010.
* [[Media:HCostelha_Thesis-Final.pdf|Robotic Tasks Modelling and Analysis Based on Discrete Event Systems]], Hugo Costelha, 2010.
* [[Media:SMarques_Thesis-Final.pdf|Decentralized Low Communication 6DoF Full State Formation Navigation]], Sónia Marques, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/2169_tese-ValdineiSilva_aposRevisoes.pdf Extração de Preferências por Meio de Avaliações de Comportamentos Observados], Valdinei Silva, 2009.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1803_FINAL.pdf Emotion-based Mechanisms for Decision Making in Autonomous Agents], Rodrigo Ventura, 2008.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1774_PhDThesis-FranciscoMelo.pdf Reinforcement Learning in Cooperative Navigation Tasks], Francisco Melo, 2007.
* [http://welcome.isr.ist.utl.pt/img/pdfs/1350_05-phd-vale.pdf Mobile Robot Navigation in Outdoor Environments: A Topological Approach], Alberto Vale, 2005.
* [http://welcome.isr.ist.utl.pt/img/pdfs/744_phdabstFinal.pdf Stochastic Model of Micro-Agent Populations], Dejan Milutinovic, 2004.
* [http://welcome.isr.ist.utl.pt/img/pdfs/559_tese1x.pdf Hierarchies and Compositional Abstractions of Hybrid Systems], Paulo Tabuada, 2002.
* [http://welcome.isr.ist.utl.pt/img/pdfs/805_99-phd-jseq.ps.z Cooperation Among Robots: a Behavioural Approach Supported on Group Theory], João Sequeira, 1999.

== Workshops ==

The following workshops had IRS group members on their organizing comitees.

* [http://ap.isr.uc.pt/events/WSCompetitions_iros2015/ IROS 2015 Workshop on Robot Competitions: What Did We Learn?] (October 2015)
* [https://sites.google.com/site/erf2015robocompworkshop/ ERF 2015 4th Workshop on on Robot Competitions, Challenges and Benchmarking - European Initiatives] (March 2015)
* [https://sites.google.com/site/erf2014robocompworkshop/ ERF 2014 3rd Workshop on on Robot Competitions, Challenges and Benchmarking - exploring the synergies] (March 2014)
* [https://sites.google.com/site/erf2013robocompworkshop/ ERF 2013 2nd Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (March 2013)
* [http://www.iros2012.org/site/node/43 IROS 2012 Workshop on Robot Competitions: Benchmarking, Technology Transfer and Education] (October 2012)
* [http://labrococo.dis.uniroma1.it/bimrs/index.html ECAI 2010 Workshop on Benchmarking Intelligent (Multi-)Robot Systems (BIMRS)] (August 2010)
* [http://rbrserver.cs.umass.edu/~camato/msdm2010/msdm2010.htm AAMAS'10 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2010)]
* [http://users.isr.ist.utl.pt/~mtjspaan/POMDPPractitioners/ ICAPS'10 POMDP Practitioners Workshop: solving real-world POMDP problems]
* [http://www.eecs.harvard.edu/~seuken/msdm2009/ AAMAS'09 Workshop on Multi-agent Sequential Decision-Making in Uncertain Domains (MSDM 2009)]
* [[Lisbon Workshop on New Challenges for Cooperative Robotics]] (October 2008)
* [http://masplan.isr.ist.utl.pt ICAPS'08 Multiagent Planning Workshop] (September 2008)
* [http://formal.isr.ist.utl.pt AAMAS'08 Workshop on Formal Models and Methods for Multi-Robot Systems] (May 2008)
* [http://aass.oru.se/Agora/ICRA05/ Workshop on Cooperative Robotics at ICRA'2005] (April 2005)

== Repository ==

Find [http://shrek/~irslab/ here] the IRS group repository of logos, presentation templates, photos of past events, conference proceedings, etc.

== LARSyS Associate Laboratory ==

The Intelligent Robots and Systems group is part of the [http://www.isr.tecnico.ulisboa.pt Institute for Systems and Robotics] research unit of the Laboratory for Robotics and Engineering Systems ([http://www.larsys.pt LARSyS]), and has actively participated in its research activities.

== Institutional Links ==

The scientific community organizes itself on interest groups and associations. The leading organizations on the scientific areas of IRS group, and with which IRS group members play an active role, in various degrees, are listed here:

* http://www.eurobotics-project.eu/eurobotics-aisbl/about-eurobotics-aisbl.html — '''eu-Robotics aisbl'''
* http://www.aass.oru.se/Agora/EuronCoop/ — '''CR SIG''': EURON Special Interest Group on Cooperative Robotics
* http://www.ieee.org — '''IEEE''': Institute of Electrical and Electronics Engineers
* http://www.aaai.org — '''AAAI''': Association for the Advancement of Artificial Intelligence
* http://www.robocup.org — '''RoboCup''': Robot World Cup Initiative
* http://www.spr.ua.pt — '''SPR''': Sociedade Portuguesa de Robótica
* http://www.appia.pt — '''APPIA''': Associação Portuguesa Para a Inteligência Artificial

== Other Links ==

* http://masplan.org/doku.php?id=start — '''MASPlan''': Multiagent Sequential Decision Making Under Uncertainty

== Software ==

Public domain software developed at IRS group, in the context of research activities.

* [https://github.com/aamirahmad/read_omni_dataset RoboCupSoccer MSL datasets for Cooperative Perception and ROS package to read them]
* [http://wiki.ros.org/markov_decision_making Markov Decision Making package for ROS]
* [http://users.isr.ist.utl.pt/~mtjspaan/software Multiagent decision process toolbox]
* [http://users.isr.ist.utl.pt/~mtjspaan/decpomdp Dec-POMDP problem domains]
* [http://users.isr.ist.utl.pt/~pal/cadeiras/deds0708/deds/MatlabFSA.zip Matlab functions for FSA]
* [http://sourceforge.net/projects/opensdk Open-source implementation of Sony's OPEN-R Development Kit]
* [http://wiki.ros.org/socrob_multicast SocRob Multicast library, to connect multiple masters using ROS]

Educational open source software developed by IRS group staff for [http://www.ist.utl.pt IST] courses (mostly [[Python resources|Python]]).

* Bayes filtering in 1-D, including Discrete Bayes, Kalman filter, Particle filtering (Monte-Carlo), and occupancy grid mapping (inverse sensor model): [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py]
* Solving Sudoku using plain backtrack search: [http://users.isr.ist.utl.pt/~yoda/iasd/sudoku.py sudoku.py]
* Pioneer DX3 robot interface software for MATLAB: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]]

== Hardware ==

* [[Bioloid Extension Project]]

== Scientific Activities for Youngsters ==

The IRS group has a long tradition on the dissemination of science and technology to youngsters, as the researchers of tomorrow are now among them.

* Pioneer project of S&T Education through Robotics: [http://lci.isr.ist.utl.pt/projects/educational/roditas RODITAS]
* [http://lci.isr.ist.utl.pt/projects/educational/cvnasferias Scientific Activities for Youngsters on Holidays]