ISRWiki - User contributions [en]

CtxtBasedMod

2016-01-21T14:55:44Z

Pfazenda: /* Simulation Files */

== Introduction ==

In previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the Heating Ventilation and Air Conditioning (HVAC) system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-Based Thermodynamic Modeling of Building Spaces ==

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. We are studying a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment.

== Simulation Files ==

We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone. For this purpose, and also to enable reproducibility of results, we have made available the simulation files for EnergyPlus used in this article with the simulated building ``.idf'' description, the Buildings Controls Virtual Test Bed project, and Matlab simulation files, at the following location:

[https://github.com/pfazenda/CtxMod_BCVTB_EnergyPlus Datasets]

Intelligent Robots and Systems Group

2016-01-21T14:54:42Z

Pfazenda: /* Datasets */

[[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]

CtxtBasedMod

2016-01-19T13:48:02Z

Pfazenda: /* Simulation Files */

== Introduction ==

In previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the Heating Ventilation and Air Conditioning (HVAC) system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-Based Thermodynamic Modeling of Building Spaces ==

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. We are studying a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment.

== Simulation Files ==

We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone. For this purpose, and also to enable reproducibility of results, we have made available the simulation files for EnergyPlus used in this article with the simulated building ``.idf'' description, the Buildings Controls Virtual Test Bed project, and Matlab simulation files, at the following location: [http://datasets.isr.tecnico.ulisboa.pt/BCVTB/ Datasets]

CtxtBasedMod

2016-01-19T13:46:29Z

Pfazenda: /* Simulation Files */

== Introduction ==

In previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the Heating Ventilation and Air Conditioning (HVAC) system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-Based Thermodynamic Modeling of Building Spaces ==

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. We are studying a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment.

== Simulation Files ==

We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone. For this purpose, and also to enable reproducibility of results, we have made available the simulation files for EnergyPlus used in this article with the simulated building ``.idf'' description, the Buildings Controls Virtual Test Bed project, and Matlab simulation files, at the following location: [http://mediawiki.isr.ist.utl.pt/wiki/Intelligent_Robots_and_Systems_Group#Datasets Datasets]

CtxtBasedMod

2016-01-19T13:45:24Z

Pfazenda:

CtxtBasedMod

2016-01-19T13:36:31Z

Pfazenda: /* Introduction */

CtxtBasedMod

2016-01-19T13:36:00Z

Pfazenda: /* Introduction */

== Introduction ==

In previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the Heating Ventilation and Air Conditioning (HVAC) system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-Based Thermodynamic Modeling of Building Spaces

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. We are studying a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment.

== Simulation Files ==

We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone.

== Simulation Files ==

CtxtBasedMod

2016-01-19T13:35:14Z

Pfazenda: /* Introduction */

== Introduction ==

In previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the Heating Ventilation and Air Conditioning (HVAC) system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-Based Thermodynamic Modeling

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. We are studying a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment.

== Simulation Files ==

We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone.

== Simulation Files ==

CtxtBasedMod

2016-01-19T13:34:32Z

Pfazenda: /* Introduction */

== Introduction ==

This research came as a follow-up of our previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the Heating Ventilation and Air Conditioning (HVAC) system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-Based Thermodynamic Modeling

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. We are studying a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment.

== Simulation Files ==

We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone.

== Simulation Files ==

CtxtBasedMod

2016-01-19T13:28:52Z

Pfazenda:

== Introduction ==

== Context-Based Thermodynamic Modeling

== Simulation Files ==

CtxtBasedMod

2016-01-19T12:31:36Z

Pfazenda: Created page with "T"

Intelligent Robots and Systems Group

2016-01-19T12:31:18Z

Pfazenda: /* Other research */

[[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Intelligent Robots and Systems Group

2016-01-19T12:27:43Z

Pfazenda: /* Other research */

[[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Intelligent Robots and Systems Group

2016-01-19T12:23:44Z

Pfazenda: /* Other research */

[[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Intelligent Robots and Systems Group

2016-01-19T12:23:14Z

Pfazenda: /* Other research */

[[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Intelligent Robots and Systems Group

2016-01-19T12:19:15Z

Pfazenda: /* Other research */

[[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Context-based Thermodynamic Modeling of Buildings Spaces

2016-01-19T12:14:08Z

Pfazenda: /* Introduction */

== Introduction ==

This article is a follow-up of our previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the HVAC system. Context-based models where the result of our struggle to find suitable representations for the building environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-based Thermodynamic Modeling ==

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. This article presents a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment. We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone.

Context-based Thermodynamic Modeling of Buildings Spaces

2016-01-19T12:13:27Z

Pfazenda: Created page with "== Introduction == This article is a follow-up of our previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the HVAC s..."

== Introduction ==

This article is a follow-up of our previous research, where we proposed using a reinforcement learning (RL) approach to optimized the operation of the HVAC system. Context-based models where the result of our struggle to find suitable representations for the environment while organizing ideas that were being proposed in different research fields (hybrid systems, lumped RC models and context-based reasoning). In the discussion section of our RL article we argued that an intelligent system should be able to explain learned policies - a requirement that our proposal was not able to accomplish. With RL, there is no insight on the internal structure of the building environment or its governing principles.

We have assumed that one of the desired requirements for ambient intelligence is to have occupants informed about important aspects on their environment. These requirements include giving information on how energy is being used, notifications about improper use of operable windows when the HVAC is on, or when there are other more economical conditions that can guarantee the same comfort levels by taking advantage of e.g. solar gains and/or natural ventilation. As we proposed for future work in the article, by using context-based models we envision an application output where it is possible to show, for example, that by leaving a door open a thermal zone can be heated by taking advantage of solar gains in another thermal zone; or a smart recommendation showing that a certain window should be closed, for energy savings. To accomplish this level of reasoning and planning the building automation system should be able to represent knowledge and reason at a symbolic level while creating (or including) meaningful models of the dynamical building environment suitable for describing the non-trivial interaction of both continuous and discrete variables.

== Context-based Thermodynamic Modeling ==

Thermodynamic models are frequently used for modeling the thermal behavior of building spaces. However, the occurrence of events such as, for example, doors, windows and blinds being opened or closed, can drastically affect the underlying processes that govern the dynamics of temperature evolution of building spaces, rendering current thermodynamic models less effective for control and prediction. This article presents a framework for appropriate model structure and parameter selection that accounts for such discrete disturbances based on the notion of context. Contexts are modeled as discrete states, represented by a set of discrete variables, associated with the operation of the building. Depending on how context changes our thermodynamic model transitions through a set of different linear time-invariant sub-models. Each sub-model is effective in representing the thermal behavior of a building space under a given context and the result is a hybrid automaton that effectively adjusts to the discrete and continuous dynamics of the building environment. We present an application example and use the outputs of EnergyPlus as reference for model performance evaluation. We show, through different context changes, how a context-based model can be used to represent, with reasonable accuracy, the evolution of temperatures in a simulated thermal zone.

Intelligent Robots and Systems Group

2016-01-19T12:07:33Z

Pfazenda: /* Other research */

[[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]]
* [[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Intelligent Robots and Systems Group

2016-01-19T12:06:11Z

Pfazenda: /* Datasets */

[[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 ==

* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB 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]

Intelligent Robots and Systems Group

2016-01-19T12:05:05Z

Pfazenda: /* Datasets */

[[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]
* [http://datasets.isr.tecnico.ulisboa.pt/BCVTB Simulation Files (EnergyPlus and BCVTB) for Context-based Thermodynamic Modeling of Buildings Spaces]

== 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]