Publications

2019

  • S. R. Fiorini, A. Chibani, T. Haidegger, J. L. Carbonera, C. Schlenoff, J. Malec, E. Prestes, P. Gonçalves, V. S. Ragavan, H. Li, and others, “Standard Ontologies and HRI,” Human-Robot Interaction: Safety, Standardization, and Benchmarking, p. 19, 2019.
    [Bibtex]
    @article{fiorini2019standard,
    title={Standard Ontologies and HRI},
    author={Fiorini, Sandro Rama and Chibani, Abdelghani and Haidegger, Tam{\'a}s and Carbonera, Joel Luis and Schlenoff, Craig and Malec, Jacek and Prestes, Edson and Gon{\c{c}}alves, Paulo and Ragavan, S Veera and Li, Howard and others},
    journal={Human-Robot Interaction: Safety, Standardization, and Benchmarking},
    pages={19},
    year={2019},
    publisher={CRC Press}
    }
  • [DOI] M. Mantelli, D. Pittol, R. Neuland, A. Ribacki, R. Maffei, V. Jorge, E. Prestes, and M. Kolberg, “A novel measurement model based on abBRIEF for global localization of a UAV over satellite images,” Robotics and Autonomous Systems, vol. 112, pp. 304-319, 2019.
    [Bibtex]
    @article{MANTELLI2019,
    title = "A novel measurement model based on abBRIEF for global localization of a UAV over satellite images",
    journal = "Robotics and Autonomous Systems",
    volume = "112",
    pages = "304 - 319",
    year = "2019",
    issn = "0921-8890",
    doi = "https://doi.org/10.1016/j.robot.2018.12.006",
    author = "Mathias Mantelli and Diego Pittol and Renata Neuland and Arthur Ribacki and Renan Maffei and Vitor Jorge and Edson Prestes and Mariana Kolberg",
    keywords = "UAV, Localization, abBRIEF, Satellite images",
    abstract = "This paper presents a method for global localization and tracking of an Unmanned Aerial Vehicle (UAV) over satellite images. We propose a new measurement model based on a novel version of BRIEF descriptor and apply it in a Monte Carlo Localization system that estimates the UAV pose in 4 degrees of freedom. The model is used to compare images obtained from the UAV downward looking camera against patches of satellite images such as the ones available on Google™ Earth. The proposed method was validated using real flights sequences and has yield good results with different maps of the same region spawning many years and covering large areas."
    }
  • E. Prestes, “An Overview of the United Nations High-Level Panel on Digital Cooperation,” IEEE Robotics & Automation Magazine, vol. 26, iss. 1, p. 103–104, 2019.
    [Bibtex]
    @article{prestes2019overview,
    title={An Overview of the United Nations High-Level Panel on Digital Cooperation},
    author={Prestes, Edson},
    journal={IEEE Robotics \& Automation Magazine},
    volume={26},
    number={1},
    pages={103--104},
    year={2019},
    publisher={IEEE}
    }
  • [DOI] L. Perdomo, D. Pittol, M. Mantelli, R. Maffei, M. L. Kolberg, and E. Prestes, “c-M2DP: A Fast Point Cloud Descriptor with Color Information to Perform Loop Closure Detection,” in International Conference on Automation Science and Engineering (CASE), 2019, p. 1145–1150.
    [Bibtex]
    @inproceedings{DBLP:conf/case/PerdomoPMMKP19,
    author = {Leonardo Perdomo and Diego Pittol and Mathias Mantelli and Renan Maffei and Mariana Luderitz Kolberg and Edson Prestes},
    title = {c-M2DP: A Fast Point Cloud Descriptor with Color Information to Perform Loop Closure Detection},
    booktitle = {International Conference on Automation Science and Engineering (CASE)},
    pages = {1145--1150},
    year = {2019},
    doi = {10.1109/COASE.2019.8842896},
    publisher={IEEE}
    }
  • [DOI] E. K. T. Concha, D. Pittol, R. Westhauser, M. Kolberg, R. Maffei, and E. Prestes, “Map Point Optimization in Keyframe-Based SLAM using Covisibility Graph and Information Fusion,” in 2019 19th International Conference on Advanced Robotics (ICAR), 2019, p. 129–134.
    [Bibtex]
    @inproceedings{concha2019map,
    title={Map Point Optimization in Keyframe-Based SLAM using Covisibility Graph and Information Fusion},
    author={Concha, Edison Kleiber T and Pittol, Diego and Westhauser, Ricardo and Kolberg, Mariana and Maffei, Renan and Prestes, Edson},
    booktitle={2019 19th International Conference on Advanced Robotics (ICAR)},
    pages={129--134},
    year={2019},
    doi = {10.1109/ICAR46387.2019.8981653},
    organization={IEEE}
    }

2018

  • L. Sabri, S. Bouznad, S. Rama Fiorini, A. Chibani, E. Prestes, and Y. Amirat, “An integrated semantic framework for designing context-aware Internet of Robotic Things systems,” Integrated Computer-Aided Engineering, vol. 25, iss. 2, p. 137–156, 2018.
    [Bibtex]
    @article{sabri2018integrated,
    title={An integrated semantic framework for designing context-aware Internet of Robotic Things systems},
    author={Sabri, Lyazid and Bouznad, Sofiane and Rama Fiorini, Sandro and Chibani, Abdelghani and Prestes, Edson and Amirat, Yacine},
    journal={Integrated Computer-Aided Engineering},
    volume={25},
    number={2},
    pages={137--156},
    year={2018},
    publisher={IOS Press}
    }
  • [DOI] A. Ribacki, V. A. M. Jorge, M. Mantelli, R. Maffei, and E. Prestes, “Vision-Based Global Localization Using Ceiling Space Density,” in International Conference on Robotics and Automation (ICRA), 2018, pp. 3502-3507.
    [Bibtex]
    @INPROCEEDINGS{RIBACKI2018,
    author={A. Ribacki and V. A. M. Jorge and M. Mantelli and R. Maffei and E. Prestes},
    booktitle={International Conference on Robotics and Automation (ICRA)},
    title={Vision-Based Global Localization Using Ceiling Space Density},
    year={2018},
    volume={},
    number={},
    pages={3502-3507},
    keywords={cameras;mobile robots;robot vision;service robots;home environments;free space density;available blueprint information;ceiling vision;robust localization information;robotic vacuum;superior localization results;vision-based global localization;ceiling space density;service robots;homes;self-localize;man-made constructions;documented blueprint;robot localization;smart home applications;movable objects;complicated task;horizontal range-finders;effective global localization approach;Cameras;Kernel;Three-dimensional displays;Robot vision systems;Simultaneous localization and mapping},
    doi={10.1109/ICRA.2018.8460515},
    ISSN={2577-087X},
    month={May},
    }

2017

  • [DOI] S. R. Fiorini, J. Bermejo-Alonso, P. Gonçalves, P. E. de Freitas, O. A. Alarcos, J. I. Olszewska, E. Prestes, C. Schlenoff, S. V. Ragavan, S. Redfield, B. Spencer, and H. Li, “A Suite of Ontologies for Robotics and Automation (Industrial Activities),” IEEE Robotics Automation Magazine, vol. 24, iss. 1, pp. 8-11, 2017.
    [Bibtex]
    @ARTICLE{FIORINI2017,
    author={S. R. Fiorini and J. Bermejo-Alonso and P. Gonçalves and E. Pignaton de Freitas and A. Olivares Alarcos and J. I. Olszewska and E. Prestes and C. Schlenoff and S. V. Ragavan and S. Redfield and B. Spencer and H. Li},
    journal={IEEE Robotics Automation Magazine},
    title={A Suite of Ontologies for Robotics and Automation (Industrial Activities)},
    year={2017},
    volume={24},
    number={1},
    pages={8-11},
    keywords={control engineering computing;intelligent robots;ontologies (artificial intelligence);IEEE Standard Association robotics society;ORA Working Group;Ontologies for Robotics and Automation Working Group;knowledge reasoning;knowledge representation;knowledge transfer;Ontologies;Robotics and automation;Standards development;Terminology;Vocabulary},
    doi={10.1109/MRA.2016.2645444},
    ISSN={1070-9932},
    month={March},
    URL = { https://http://ieeexplore.ieee.org/document/7886384/},
    abstract = {Reports on the formation and activities undertaken by the Ontologies for Robotics and Automation (ORA) Working Group. ORA was established in 2011 by the IEEE Standard Association's Robotics Society. The goal of the group is to develop a standard to provide an overall ontology and associated methodology for knowledge representation and reasoning in robotics and automation together with the representation of concepts in an initial set of application domains. The standard provides a unified way of representing knowledge and provides a common set of terms and definitions, allowing for unambiguous knowledge transfer among any group of human, robots, and other artificial systems. }
    }
  • R. Madhavan, A. Amory, E. Prestes, R. Guedes, A. Bergamin, R. Neuland, M. Mantelli, D. Kindin, and F. Rodrigues, “The 2017 humanitarian robotics and automation technology challenge (humanitarian technology),” IEEE Robotics & Automation Magazine, vol. 24, iss. 4, p. 127–129, 2017.
    [Bibtex]
    @article{madhavan20172017,
    title={The 2017 humanitarian robotics and automation technology challenge (humanitarian technology)},
    author={Madhavan, Raj and Amory, Alexandre and Prestes, Edson and Guedes, Renan and Bergamin, Augusto and Neuland, Renata and Mantelli, Mathias and Kindin, Diego and Rodrigues, Fernanda},
    journal={IEEE Robotics \& Automation Magazine},
    volume={24},
    number={4},
    pages={127--129},
    year={2017},
    publisher={IEEE}
    }
  • [DOI] S. Bouznad, A. Chibani, Y. Amirat, S. Lyazid, E. Prestes, F. Sebbak, and S. Fiorini, “Context-Aware Monitoring Agents for Ambient Assisted Living Applications,” in Ambient Intelligence: 13th European Conference, AmI 2017, Malaga, Spain, April 26–28, 2017, Proceedings, A. Braun, R. Wichert, and A. Maña, Eds., Cham: Springer International Publishing, 2017, p. 225–240.
    [Bibtex]
    @Inbook{Bouznad2017,
    author="Bouznad, Sofiane and Chibani, Abdelghani and Amirat, Yacine and Lyazid, Sabri and Prestes, Edson and Sebbak, Faouzi and Fiorini, Sandro",
    editor="Braun, Andreas and Wichert, Reiner and Ma{\~{n}}a, Antonio",
    title="Context-Aware Monitoring Agents for Ambient Assisted Living Applications",
    bookTitle="Ambient Intelligence: 13th European Conference, AmI 2017, Malaga, Spain, April 26--28, 2017, Proceedings",
    year="2017",
    publisher="Springer International Publishing",
    address="Cham",
    pages="225--240",
    abstract="This paper presents a knowledge-based engineering framework for the design, deployment and running of context-aware monitoring agents that are dedicated to ambient assisted living applications. A new modeling approach of agent knowledge, that combines the advantages of both ontologies and object oriented modeling and programming, is proposed. In this approach, the agents' logic is implemented using a micro-ontology and production rules based on the closed world assumption, called smart rules. These rules are managed using a standard reasoning system embedded in the agent core. Unlike semantic web approaches, the proposed approach rely on the closed world and unique name assumptions. These features are required for monitoring purposes in ambient intelligence and robotics domains. We present a practical work, where monitoring agents are instantiated in the user environment and their reasoning rules operate to handle the detection and confirmation of abnormal and emergency situations with respect to user's context. These rules allow the agents to trigger appropriate actions with help of companion robot.",
    isbn="978-3-319-56997-0",
    doi="10.1007/978-3-319-56997-0_18",
    }
  • J. I. Olszewska, M. Barreto, J. Bermejo-Alonso, J. Carbonera, A. Chibani, S. Fiorini, P. Goncalves, M. Habib, A. Khamis, A. Olivares, and others, “Ontology for autonomous robotics,” in 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017, p. 189–194.
    [Bibtex]
    @inproceedings{olszewska2017ontology,
    title={Ontology for autonomous robotics},
    author={Olszewska, Joanna Isabelle and Barreto, Marcos and Bermejo-Alonso, Julita and Carbonera, Joel and Chibani, Abdelghani and Fiorini, Sandro and Goncalves, Paulo and Habib, Maki and Khamis, Alaa and Olivares, Alberto and others},
    booktitle={2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
    pages={189--194},
    year={2017},
    organization={IEEE}
    }

2016

  • R. Madhavan, T. Silva, F. Farina, R. Wiebbelling, L. Renner, and E. Prestes, “Unmanned Aerial Vehicles for Environmental Monitoring, Ecological Conservation, and Disaster Management,” in UNESCO Chair Conference on Technologies for Development, 2016, p. 31–39.
    [Bibtex]
    @inproceedings{madhavan2016unmanned,
    title={Unmanned Aerial Vehicles for Environmental Monitoring, Ecological Conservation, and Disaster Management},
    author={Madhavan, Raj and Silva, Tatiana and Farina, Flavia and Wiebbelling, Rodrigo and Renner, Leonardo and Prestes, Edson},
    booktitle={UNESCO Chair Conference on Technologies for Development},
    pages={31--39},
    year={2016},
    organization={Springer, Cham}
    }
  • [DOI] B. Bayat, J. Bermejo-Alonso, J. Carbonera, T. Facchinetti, S. Fiorini, P. Goncalves, V. A. M. Jorge, M. Habib, A. Khamis, K. Melo, B. Nguyen, J. I. Olszewska, L. Paull, E. Prestes, V. Ragavan, S. Saeedi, R. Sanz, M. Seto, B. Spencer, A. Vosughi, and H. Li, “Requirements for building an ontology for autonomous robots,” Industrial Robot: An International Journal, vol. 43, iss. 5, pp. 469-480, 2016.
    [Bibtex]
    @article{BAYAT2016,
    author = {Behzad Bayat and Julita Bermejo-Alonso and Joel Carbonera and Tullio Facchinetti and Sandro Fiorini and Paulo Goncalves and Vitor A.M. Jorge and Maki Habib and Alaa Khamis and Kamilo Melo and Bao Nguyen and Joanna Isabelle Olszewska and Liam Paull and Edson Prestes and Veera Ragavan and Sajad Saeedi and Ricardo Sanz and Mae Seto and Bruce Spencer and Amirkhosro Vosughi and Howard Li},
    title = {Requirements for building an ontology for autonomous robots},
    journal = {Industrial Robot: An International Journal},
    volume = {43},
    number = {5},
    pages = {469-480},
    year = {2016},
    doi = {10.1108/IR-02-2016-0059},
    URL = { https://doi.org/10.1108/IR-02-2016-0059},
    abstract = { Purpose IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots. Design/methodology/approach For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making. Findings AuR has identified the core concepts and domains needed to create an ontology for autonomous robots. Practical implications AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance. Originality/value Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R\&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots. }
    }
  • [DOI] E. Prestes, L. Marques, R. Neuland, M. Mantelli, R. Maffei, S. Dogru, J. Prado, J. Macedo, and R. Madhavan, “The 2016 Humanitarian Robotics and Automation Technology Challenge (Competitions),” IEEE Robotics Automation Magazine, vol. 23, iss. 3, pp. 23-24, 2016.
    [Bibtex]
    @ARTICLE{HRATC2016,
    author={E. Prestes and L. Marques and R. Neuland and M. Mantelli and R. Maffei and S. Dogru and J. Prado and J. Macedo and R. Madhavan},
    journal={IEEE Robotics Automation Magazine},
    title={The 2016 Humanitarian Robotics and Automation Technology Challenge (Competitions)},
    year={2016},
    volume={23},
    number={3},
    pages={23-24},
    doi={10.1109/MRA.2016.2587921},
    ISSN={1070-9932},
    month={Sept},
    URL = { http://ieeexplore.ieee.org/document/7565695/},
    abstract = {Presents information on the 2016 Humanitarian Robotics and Automation Technology Challenge. }
    }
  • [DOI] R. Maffei, V. A. M. Jorge, V. F. Rey, M. Kolberg, and E. Prestes, “Long-term place recognition using multi-level words of spatial densities,” in International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 3269-3274.
    [Bibtex]
    @INPROCEEDINGS{MAFFEI2016,
    author={R. Maffei and V. A. M. Jorge and V. F. Rey and M. Kolberg and E. Prestes},
    booktitle={International Conference on Intelligent Robots and Systems (IROS)},
    title={Long-term place recognition using multi-level words of spatial densities},
    year={2016},
    pages={3269-3274},
    abstract={Proper place recognition on an environment that can change over time is fundamental for long-term SLAM. In such scenarios the observations obtained in the same region can drastically differ due to changes caused by semi-static objects, such as doors, furniture, etc. In this work, we extend a strategy that represents environment regions using words, based on spatial density information extracted from laser readings. This time, in order to deal with changes in the environment, our method not only builds words representing the real observations made by the robot, but also alternative multi-level words to account for possible changes in a place's observations generated by non-static objects. Place recognition is made by searching matches of sequences of N consecutive words (both real or alternatives). Experiments performed in real and simulated scenarios are shown, and demonstrate the advantages associated to the use of multi-level words.},
    keywords={SLAM (robots);feature extraction;image recognition;mobile robots;SLAM;information extraction;mobile robot;multilevel word;place recognition;simultaneous localization and mapping;spatial density;Buildings;Kernel;Lasers;Simultaneous localization and mapping;Trajectory},
    doi={10.1109/IROS.2016.7759504},
    month={Oct},
    URL = {http://ieeexplore.ieee.org/document/7759504/}
    }
  • [DOI] L. Marques, E. Prestes, S. Dogru, J. Prado, J. P. Macedo, R. Neuland, M. Mantelli, R. Maffei, and R. Madhavan, “Automation of humanitarian demining: The 2016 humanitarian robotics and automation technology challenge,” in 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, pp. 1-7.
    [Bibtex]
    @INPROCEEDINGS{HRATC20161,
    author={L. Marques and E. Prestes and S. Dogru and J. Prado and J. P. Macedo and R. Neuland and M. Mantelli and R. Maffei and R. Madhavan},
    booktitle={2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA)},
    title={Automation of humanitarian demining: The 2016 humanitarian robotics and automation technology challenge},
    year={2016},
    pages={1-7},
    abstract={This paper introduces the problem of detection of landmines and unexploded ordnances. This is a serious humanitarian problem affecting dozens of countries across the world. A solution using robots for cleaning affected areas would have a huge positive impact for the life of persons living there and has for long been foreseen, but this approach has its own difficulties. The paper presents a Challenge aiming to engage researchers across the world into this problem and helping to improve robotics demining. The different phases of the Humanitarian Robotics and Automation Technology Challenge (HRATC) are described and the progresses achieved after three years of running the Challenge are analyzed and discussed.},
    keywords={landmine detection;military systems;mobile robots;automation technology;humanitarian demining;humanitarian robotics;landmine detection;robotics demining;semiautonomous mobile robots;unexploded ordnance detection;Automation;Manipulators;Metals;Mobile robots;Robot sensing systems},
    doi={10.1109/RAHA.2016.7931893},
    month={Dec},
    url = {http://ieeexplore.ieee.org/document/7931893/}
    }
  • R. CHATILA, R. ARKIN, R. MADHAVAN, E. PRESTES, V., and E. P. e Silva Jr., Desenvolvimento de uma Interface para Controle de um Braço Robótico com cinco graus de liberdadeIEEE Standard Association, 2016.
    [Bibtex]
    @misc{PRESTESCOAUTOR2016,
    title={ Desenvolvimento de uma Interface para Controle de um Braço Robótico com cinco graus de liberdade},
    author={CHATILA, R. and ARKIN, R. and MADHAVAN, R. and PRESTES, E. and , V. and e Silva Jr., Edson Prestes},
    year={2016},
    publisher={ IEEE Standard Association}
    }

2015

  • [DOI] A. B. do Carmo, M. Raeder, T. Nunes, M. Kolberg, and L. G. Fernandes, “A job profile oriented scheduling architecture for improving the throughput of industrial printing environments,” Computers & Industrial Engineering, vol. 88, pp. 191-205, 2015.
    [Bibtex]
    @article{DOCARMO2015191,
    title = "A job profile oriented scheduling architecture for improving the throughput of industrial printing environments",
    journal = "Computers \& Industrial Engineering",
    volume = "88",
    number = "",
    pages = "191 - 205",
    year = "2015",
    note = "",
    issn = "0360-8352",
    doi = "http://dx.doi.org/10.1016/j.cie.2015.07.001",
    author = "Andriele Busatto do Carmo and Mateus Raeder and Thiago Nunes and Mariana Kolberg and Luiz Gustavo Fernandes",
    keywords = "Scheduling, High performance printing, Documents rippin, Load balancing, Documents profiling, Parallel and distributed computing",
    abstract = "The Digital Printing industry has become extremely specialized in the past few years. The use of personalized documents has emerged as a consolidated trend in this field. In order to meet this demand, languages to describe templates for personalized documents were proposed along with procedures which allow the correct printing of such documents. One of these procedures, which demands a high computational effort, is the ripping phase performed over a queue of documents in order to convert them into a printable format. An alternative to decrease the ripping phase computational time is to use high performance computing techniques to allow parallel ripping of different documents. However, such strategies present several unsolved issues. One of the most severe issues is the impossibility to assure a fair load balancing for any job queue. In this scenario, this work proposes a job profile oriented scheduling architecture for improving the throughput of industrial printing environments through a more efficient use of the available resources. Our results show a performance gain of up to 10 percent in average over the previous existing strategies applied on different job queue scenarios."
    }
  • [DOI] M. Kolberg, G. Bohlender, and L. G. Fernandes, “An efficient approach to solve very large dense linear systems with verified computing on clusters,” Numerical Linear Algebra with Applications, vol. 22, iss. 2, p. 299–316, 2015.
    [Bibtex]
    @article {KOLBERG2015,
    author = {Kolberg, Mariana and Bohlender, Gerd and Fernandes, Luiz Gustavo},
    title = {An efficient approach to solve very large dense linear systems with verified computing on clusters},
    journal = {Numerical Linear Algebra with Applications},
    volume = {22},
    number = {2},
    issn = {1099-1506},
    doi = {10.1002/nla.1950},
    pages = {299--316},
    keywords = {interval arithmetic, verified computing, linear systems, parallel algorithms},
    year = {2015},
    abstract = {Automatic result verification is an important tool to guarantee that completely inaccurate results cannot be used for decisions without getting remarked during a numerical computation. Mathematical rigor provided by verified computing allows the computation of an enclosure containing the exact solution of a given problem. Particularly, the computation of linear systems can strongly benefit from this technique in terms of reliability of results. However, in order to compute an enclosure of the exact result of a linear system, more floating-point operations are necessary, consequently increasing the execution time. In this context, parallelism appears as a good alternative to improve the solver performance. In this paper, we present an approach to solve very large dense linear systems with verified computing on clusters. This approach enabled our parallel solver to compute huge linear systems with point or interval input matrices with dimensions up to 100,000. Numerical experiments show that the new version of our parallel solver introduced in this paper provides good relative speedups and delivers a reliable enclosure of the exact results. }
    }
  • [DOI] V. A. M. Jorge, V. F. Rey, R. Maffei, S. R. Fiorini, J. L. Carbonera, F. Branchi, J. P. Meireles, G. S. Franco, F. Farina, T. S. da Silva, M. Kolberg, M. Abel, and E. Prestes, “Exploring the IEEE ontology for robotics and automation for heterogeneous agent interaction,” Robotics and Computer-Integrated Manufacturing, vol. 33, pp. 12-20, 2015.
    [Bibtex]
    @article{JORGE201512,
    title = "Exploring the IEEE ontology for robotics and automation for heterogeneous agent interaction",
    journal = "Robotics and Computer-Integrated Manufacturing",
    volume = "33",
    number = "",
    pages = "12 - 20",
    year = "2015",
    note = "Special Issue on Knowledge Driven Robotics and Manufacturing",
    issn = "0736-5845",
    doi = "http://dx.doi.org/10.1016/j.rcim.2014.08.005",
    author = "Vitor A.M. Jorge and Vitor F. Rey and Renan Maffei and Sandro Rama Fiorini and Joel Luis Carbonera and Flora Branchi and João P. Meireles and Guilherme S. Franco and Flávia Farina and Tatiana S. da Silva and Mariana Kolberg and Mara Abel and Edson Prestes",
    keywords = "Human–robot interaction, Robot–robot interaction, Ontologies for robotics and automation, Knowledge representation, Ontology engineering, Spatial information",
    abstract = "Spatial notions play a key role when humans and robots interact. Robotics & Automation (R&A) often involves diverse scenarios where heterogeneous robots must share their spatial knowledge to achieve a given goal. Such scenarios may become more complex when humans are also involved. This means that humans and heterogeneous robots must share their spatial information about the world. For this purpose, the IEEE Ontologies for Robotics and Automation (ORA) Working Group started developing an ontology, called POS, with the purpose of defining the core notions required to share spatial concepts in the R&A domain. This paper evaluates the proposed ontology through a use case scenario involving both heterogeneous robots and human–robot interactions, showing how to define new spatial notions using POS. We discuss the experiment results presenting the ontology strengths as well as the future directions to be taken by the ORA group."
    }
  • [DOI] R. Madhavan, L. Marques, E. Prestes, R. Maffei, V. Jorge, B. Gil, S. Dogru, G. Cabrita, R. Neuland, and P. Dasgupta, “2015 Humanitarian Robotics and Automation Technology Challenge (Humanitarian Technology),” IEEE Robotics Automation Magazine, vol. 22, iss. 3, pp. 182-184, 2015.
    [Bibtex]
    @ARTICLE{HRATC2015,
    author={R. Madhavan and L. Marques and E. Prestes and R. Maffei and V. Jorge and B. Gil and S. Dogru and G. Cabrita and R. Neuland and P. Dasgupta},
    journal={IEEE Robotics Automation Magazine},
    title={2015 Humanitarian Robotics and Automation Technology Challenge (Humanitarian Technology)},
    year={2015},
    volume={22},
    number={3},
    pages={182-184},
    doi={10.1109/MRA.2015.2452199},
    ISSN={1070-9932},
    month={Sept},
    URL = {http://ieeexplore.ieee.org/document/7254314/},
    eprint = {http://ieeexplore.ieee.org/document/7254314/},
    abstract = {Presents information on the RASS 2015 Humanitarian Robotics and Automation Technology Challenge. }
    }
  • [DOI] S. R. Fiorini, J. L. Carbonera, P. Gonçalves, V. A. M. Jorge, V. F. Rey, T. Haidegger, M. Abel, S. A. Redfield, S. Balakirsky, V. Ragavan, H. Li, C. Schlenoff, and E. Prestes, “Extensions to the core ontology for robotics and automation,” Robotics and Computer-Integrated Manufacturing, vol. 33, pp. 3-11, 2015.
    [Bibtex]
    @article{FIORINI2015,
    title = "Extensions to the core ontology for robotics and automation",
    journal = "Robotics and Computer-Integrated Manufacturing",
    volume = "33",
    number = "",
    pages = "3 - 11",
    year = "2015",
    note = "Special Issue on Knowledge Driven Robotics and Manufacturing",
    issn = "0736-5845",
    doi = "http://dx.doi.org/10.1016/j.rcim.2014.08.004",
    url = "http://www.sciencedirect.com/science/article/pii/S0736584514000659",
    author = "Sandro Rama Fiorini and Joel Luis Carbonera and Paulo Gonçalves and Vitor A.M. Jorge and Vítor Fortes Rey and Tamás Haidegger and Mara Abel and Signe A. Redfield and Stephen Balakirsky and Veera Ragavan and Howard Li and Craig Schlenoff and Edson Prestes",
    abstract = {The working group Ontologies for Robotics and Automation, sponsored by the IEEE Robotics & Automation Society, recently proposed a Core Ontology for Robotics and Automation (CORA). This ontology was developed to provide an unambiguous definition of core notions of robotics and related topics. It is based on SUMO, a top-level ontology of general concepts, and on ISO 8373:2012 standard, developed by the ISO/TC184/SC2 Working Group, which defines—in natural language—important terms in the domain of Robotics and Automation (R&A). In this paper, we introduce a set of ontologies that complement CORA with notions such as industrial design and positioning. We also introduce updates to CORA in order to provide more ontologically sound representations of autonomy and of robot parts. }
    }
  • [DOI] V. A. M. Jorge, V. F. Rey, R. Maffei, S. R. Fiorini, J. L. Carbonera, F. Branchi, J. P. Meireles, G. S. Franco, F. Farina, T. S. da Silva, M. Kolberg, M. Abel, and E. Prestes, “Exploring the IEEE ontology for robotics and automation for heterogeneous agent interaction,” Robotics and Computer-Integrated Manufacturing, vol. 33, pp. 12-20, 2015.
    [Bibtex]
    @article{JORGE201512,
    title = "Exploring the IEEE ontology for robotics and automation for heterogeneous agent interaction",
    journal = "Robotics and Computer-Integrated Manufacturing",
    volume = "33",
    number = "",
    pages = "12 - 20",
    year = "2015",
    note = "Special Issue on Knowledge Driven Robotics and Manufacturing",
    issn = "0736-5845",
    doi = "http://dx.doi.org/10.1016/j.rcim.2014.08.005",
    url = "http://www.sciencedirect.com/science/article/pii/S0736584514000660",
    author = "Vitor A.M. Jorge and Vitor F. Rey and Renan Maffei and Sandro Rama Fiorini and Joel Luis Carbonera and Flora Branchi and João P. Meireles and Guilherme S. Franco and Flávia Farina and Tatiana S. da Silva and Mariana Kolberg and Mara Abel and Edson Prestes",
    abstract = "Spatial notions play a key role when humans and robots interact. Robotics & Automation (R&A) often involves diverse scenarios where heterogeneous robots must share their spatial knowledge to achieve a given goal. Such scenarios may become more complex when humans are also involved. This means that humans and heterogeneous robots must share their spatial information about the world. For this purpose, the IEEE Ontologies for Robotics and Automation (ORA) Working Group started developing an ontology, called POS, with the purpose of defining the core notions required to share spatial concepts in the R&A domain. This paper evaluates the proposed ontology through a use case scenario involving both heterogeneous robots and human–robot interactions, showing how to define new spatial notions using POS. We discuss the experiment results presenting the ontology strengths as well as the future directions to be taken by the ORA group."
    }
  • [DOI] C. Schlenoff, S. Balakirsky, and E. Prestes, “Preface: Special issue on knowledge driven robotics and manufacturing,” Robotics and Computer-Integrated Manufacturing, vol. 33, pp. 1-2, 2015.
    [Bibtex]
    @article{SCHLENOFF20151,
    title = "Preface: Special issue on knowledge driven robotics and manufacturing",
    journal = "Robotics and Computer-Integrated Manufacturing",
    volume = "33",
    number = "",
    pages = "1 - 2",
    year = "2015",
    note = "Special Issue on Knowledge Driven Robotics and Manufacturing",
    issn = "0736-5845",
    doi = "http://dx.doi.org/10.1016/j.rcim.2014.09.001",
    url = "http://www.sciencedirect.com/science/article/pii/S0736584514000763",
    author = "Craig Schlenoff and Stephen Balakirsky and Edson Prestes",
    }
  • [DOI] R. Maffei, V. A. M. Jorge, V. F. Rey, M. Kolberg, and E. Prestes, “Fast Monte Carlo Localization using spatial density information,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 6352-6358.
    [Bibtex]
    @INPROCEEDINGS{MAFFEI2015,
    author={R. Maffei and V. A. M. Jorge and V. F. Rey and M. Kolberg and E. Prestes},
    booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
    title={Fast Monte Carlo Localization using spatial density information},
    year={2015},
    pages={6352-6358},
    abstract={Estimating the robot localization is a fundamental requirement for applications in robotics. For many years, Monte Carlo Localization (MCL) has been one of the most popular approaches to solve the global localization when using range finders, like sonars or lasers. It generally weights the estimates about the robot state by comparing raw sensor readings with simulated readings computed for each estimate. In this paper, we propose an observation model for localization that associates a kernel density estimate (KDE) to each point in the space. This single-valued density measure is independent of orientation, what allows an efficient pre-caching step, substantially boosting the computation time of the process. Using the gradient of the densities field, our strategy is able to estimate orientation information that helps to restrict the localization search space. Additionally, we can combine densities obtained by kernels of different sizes and profiles to improve the quality of the acquired information. We show through experiments in comparison with traditional approaches that our method is efficient, even working with large sets of particles, and effective.},
    keywords={Monte Carlo methods;mobile robots;path planning;Monte Carlo localization;densities field gradient;kernel density estimation;mobile robot localization;spatial density information;Atmospheric measurements;Computational modeling;Histograms;Kernel;Particle measurements;Robot sensing systems},
    doi={10.1109/ICRA.2015.7140091},
    ISSN={1050-4729},
    month={May},
    URL = {http://ieeexplore.ieee.org/document/7140091/}
    }
  • [DOI] V. A. M. Jorge, R. Maffei, G. S. Franco, J. Daltrozo, M. Giambastiani, M. Kolberg, and E. Prestes, “Ouroboros: Using potential field in unexplored regions to close loops,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 2125-2131.
    [Bibtex]
    @INPROCEEDINGS{JORGE2015,
    author={V. A. M. Jorge and R. Maffei and G. S. Franco and J. Daltrozo and M. Giambastiani and M. Kolberg and E. Prestes},
    booktitle={2015 IEEE International Conference on Robotics and Automation (ICRA)},
    title={Ouroboros: Using potential field in unexplored regions to close loops},
    year={2015},
    pages={2125-2131},
    abstract={An autonomous robot requires a map of the environment for many tasks. Yet, in many cases, this map is unavailable and the robot must build one in real-time, in the so-called integrated exploration task. Several integrated exploration approaches adopt some sort of loop-closing strategy combined with an online simultaneous localization and mapping (SLAM) technique. This is important because the robot can reduce the uncertainty about its pose by revisiting known areas. One solution for environment exploration is to use the vector field computed from the numeric solution of a Boundary Value Problem (BVP). This approach is called BVP Path Planner and generates smooth and free of local minima potential fields. However, this planner cannot actively close loops and does not scale well in large scenarios. In this paper we present a technique which performs active loop closure using the BVP Path Planner. Our proposal takes advantage of the potential of unexplored regions, and induces the robot to close loops by placing dynamic barriers at the visited space. The update of the potential field is boosted using a local window charged by a Voronoi diagram of the environment containing global information. We show through experimental results the effectiveness of the technique with a thorough discussion of its characteristics.},
    keywords={SLAM (robots);boundary-value problems;closed loop systems;computational geometry;mobile robots;path planning;vectors;BVP path planner;SLAM technique;Voronoi diagram;active loop closure;autonomous robot;boundary value problem;close loops;dynamic barriers;global information;integrated exploration task;local minima potential fields;local window;online simultaneous localization and mapping technique;ouroboros;vector field;Agricultural machinery;Boundary conditions;Joining processes;Roads;Simultaneous localization and mapping},
    doi={10.1109/ICRA.2015.7139479},
    ISSN={1050-4729},
    month={May},
    URL = {http://ieeexplore.ieee.org/document/7139479/}
    }
  • [DOI] R. Maffei, V. A. M. Jorge, V. F. Rey, G. S. Franco, M. Giambastiani, J. Barbosa, M. Kolberg, and E. Prestes, “Using n-grams of spatial densities to construct maps,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, pp. 3850-3855.
    [Bibtex]
    @INPROCEEDINGS{MAFFEI2015NGRAMS,
    author={R. Maffei and V. A. M. Jorge and V. F. Rey and G. S. Franco and M. Giambastiani and J. Barbosa and M. Kolberg and E. Prestes},
    booktitle={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    title={Using n-grams of spatial densities to construct maps},
    year={2015},
    pages={3850-3855},
    abstract={Place recognition is the frond-end of Simultaneous Localization and Mapping (SLAM). Topological representations depend on good association of vertices, which ultimately depends on the front-end. In this paper, we consider a robot lost in an unknown environment trying to construct a topological map to localize itself using a laser range finder and odometry information. The algorithm makes use of an efficient observation model based on kernel density estimates (KDEs) to detect loops. The observation model separates the map into regions denominated words, classified based on the density of free space, number of observations and segment orientation. Loop closing results from the matching of sequences of N consecutive words (n-grams). The proposed approach is orders of magnitude faster than a sequence of Iterative Closest Point (ICP) matches. The method is evaluated varying input parameters in real and simulated scenarios.},
    keywords={SLAM (robots);image recognition;laser ranging;mobile robots;robot vision;KDEs;SLAM;kernel density estimates;laser range finder;loop closing;loop detection;n-grams;observation model;odometry information;place recognition;robot;segment orientation;simultaneous localization and mapping;spatial densities;topological map;topological representations;Bayes methods;Image color analysis;Kernel;Simultaneous localization and mapping},
    doi={10.1109/IROS.2015.7353918},
    month={Sept},
    url = {http://ieeexplore.ieee.org/document/7353918/}
    }

2014

  • R. A. F. Romero, E. Prestes, F. S. OSÓRIO, and D. F. WOLF, , Livros Técnicos e Científicos Editora Ltda, 2014.
    [Bibtex]
    @BOOK{PRESTESBOOK,
    author="Romero, Roseli A.F. and Prestes, Edson and OSÓRIO, Fernando Santos and WOLF, D. F.",
    editor="",
    title="",
    bookTitle="Robótica Móvel",
    year="2014",
    publisher="Livros Técnicos e Científicos Editora Ltda",
    address="",
    pages="316",
    abstract="A robótica é um tema pouco conhecido e muito especulado pela sociedade em geral, seja na literatura, seja nos filmes de ficção científica que buscam representar a relação homem-máquina em cenários futuristas.
    No entanto, a robótica já é uma realidade e apresenta uma expansão crescente no âmbito acadêmico brasileiro e no mercado de produtos e serviços. Exemplo claro desse cenário é o lançamento de 'Robótica Móvel', uma compilação de temas de estudo e artigos de pesquisa apresentados pelos principais pesquisadores do país.
    Além de oferecer um retrato atual da evolução da área no Brasil e sobre o estado da arte no exterior, o caráter didático da obra tem por objetivo alimentar o crescimento da pesquisa, proporcionando um interessante ponto de partida para estudantes de graduação e pós-graduação, ao mostrar diferentes linhas de trabalho e possibilidades de aprofundamento de seus estudos.",
    isbn="978-85-216-2303-8",
    }
  • R. A. F. Romero, E. Prestes, F. S. OSÓRIO, and D. F. WOLF, “Sensores e Atuadores,” in Robótica Móvel, Livros Técnicos e Científicos Editora Ltda, 2014, pp. 13-25.
    [Bibtex]
    @INBOOK{PRESTESBOOK1,
    author="Romero, Roseli A.F. and Prestes, Edson and OSÓRIO, Fernando Santos and WOLF, D. F.",
    editor="",
    title="Sensores e Atuadores",
    bookTitle="Robótica Móvel",
    year="2014",
    publisher="Livros Técnicos e Científicos Editora Ltda",
    address="",
    pages="13-25",
    isbn="978-85-216-2303-8",
    }
  • C. SCHLENOFF, S. BALAKIRSKY, and E. Prestes, Special Issue on Knowledge Driven Robotics and ManufacturingElsevier Robotics and Computer Integrated Manufacturing Journal, 2014.
    [Bibtex]
    @misc{PRESTESCOAUTOR2014,
    title={ Special Issue on Knowledge Driven Robotics and Manufacturing},
    author={SCHLENOFF, C. and BALAKIRSKY, S. and Prestes, Edson },
    year={2014},
    publisher={ Elsevier Robotics and Computer Integrated Manufacturing Journal}
    }
  • [DOI] R. Neuland, R. Maffei, L. Jaulin, E. Prestes, and M. Kolberg, “Improving the Precision of AUVs Localization in a Hybrid Interval-Probabilistic Approach Using a Set-Inversion Strategy,” Unmanned Systems, vol. 02, iss. 04, pp. 361-375, 2014.
    [Bibtex]
    @article{NEULAND2014,
    author = {Neuland, Renata and Maffei, Renan and Jaulin, Luc and Prestes, Edson and Kolberg, Mariana},
    title = {Improving the Precision of AUVs Localization in a Hybrid Interval-Probabilistic Approach Using a Set-Inversion Strategy},
    journal = {Unmanned Systems},
    volume = {02},
    number = {04},
    pages = {361-375},
    year = {2014},
    doi = {10.1142/S230138501440010X},
    abstract = {One of the fundamental tasks of robotics is to solve the localization problem, in which a robot must determine its true pose without any knowledge on its initial location. In underwater environments, this is specially hard due to sensors restrictions. For instance, many times, the localization process must rely on information from acoustic sensors, such as transponders. We propose a method to deal with this scenario, that consists in a hybridization of probabilistic and interval approaches, aiming to overcome the weaknesses found in each approach and improve the precision of results. In this paper, we use the set inversion via interval analysis (SIVIA) technique to reduce the region of uncertainty about robot localization, and a particle filter to refine the estimates. With the information provided by SIVIA, the distribution of particles can be concentrated in regions of higher interest. We compare this approach with a previous hybrid approach using contractors instead of SIVIA. Experiments with simulated data show that our hybrid method using SIVIA provides more accurate results than the method using contractors.}
    }
  • [DOI] R. Madhavan, W. Yu, C. Schlenoff, E. Prestes, and F. Amigoni, “Draft Standards Development of Two Working Groups (Industrial Activities),” IEEE Robotics Automation Magazine, vol. 21, iss. 3, pp. 20-23, 2014.
    [Bibtex]
    @ARTICLE{MADHAVAN2014,
    author={R. Madhavan and W. Yu and C. Schlenoff and E. Prestes and F. Amigoni},
    journal={IEEE Robotics Automation Magazine},
    title={Draft Standards Development of Two Working Groups (Industrial Activities)},
    year={2014},
    volume={21},
    number={3},
    pages={20-23},
    keywords={Automation;Robot kinematics;Robot sensing systems;Service robots;Standards},
    doi={10.1109/MRA.2014.2334971},
    ISSN={1070-9932},
    month={Sept},
    URL = { http://ieeexplore.ieee.org/document/6894718/},
    }
  • [DOI] R. Madhavan, L. Marques, E. Prestes, P. Dasgupta, G. Cabrita, D. Portugal, B. Gouveia, V. Jorge, R. Maffei, G. Franco, and J. Garcia, “2014 Humanitarian Robotics and Automation Technology Challenge (Humanitarian Technology),” IEEE Robotics Automation Magazine, vol. 21, iss. 3, pp. 10-16, 2014.
    [Bibtex]
    @ARTICLE{HRATC2014,
    author={R. Madhavan and L. Marques and E. Prestes and P. Dasgupta and G. Cabrita and D. Portugal and B. Gouveia and V. Jorge and R. Maffei and G. Franco and J. Garcia},
    journal={IEEE Robotics Automation Magazine},
    title={2014 Humanitarian Robotics and Automation Technology Challenge (Humanitarian Technology)},
    year={2014},
    volume={21},
    number={3},
    pages={10-16},
    abstract={},
    doi={10.1109/MRA.2014.2334953},
    ISSN={1070-9932},
    month={Sept},
    URL = {https://http://ieeexplore.ieee.org/document/6894711/}
    }
  • [DOI] R. Maffei, V. A. M. Jorge, E. Prestes, and M. Kolberg, “Integrated exploration using time-based potential rails,” in 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 3694-3699.
    [Bibtex]
    @INPROCEEDINGS{MAFFEI2014,
    author={R. Maffei and V. A. M. Jorge and E. Prestes and M. Kolberg},
    booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)},
    title={Integrated exploration using time-based potential rails},
    year={2014},
    pages={3694-3699},
    abstract={Integrated exploration is the most complete task in mobile robotics, and corresponds to the union of mapping, localization and motion planning. A powerful integrated exploration solution must take into account decisions that improve the quality of the map construction, such as closing loops, at the same time that the environment is explored. Potential fields and boundary value problems (BVP) have been used with success in tasks of planning, localization and exploration, but not yet in integrated strategies. In this paper, we present an integrated exploration strategy using a time varying BVP-based exploration. Our strategy consists of creating potential rails that guide the robot to regions that are either unexplored or were visited a long time ago. We also apply local distortions in the potential field to generate a loop closure strategy. Experimental results demonstrate that our method improves the quality of the map construction, keeping the balance between revisiting and exploratory activities.},
    keywords={mobile robots;path planning;time-varying systems;boundary value problems;integrated exploration strategy;local distortions;loop closure strategy;map construction;mobile robotics;motion planning;revisiting activities;time varying BVP-based exploration;time-based potential rails;Boundary conditions;Simultaneous localization and mapping;Skeleton;Trajectory},
    doi={10.1109/ICRA.2014.6907394},
    ISSN={1050-4729},
    month={May},
    url = {http://ieeexplore.ieee.org/document/6907394/}
    }
  • [DOI] R. Neuland, J. Nicola, R. Maffei, L. Jaulin, E. Prestes, and M. Kolberg, “Hybridization of Monte Carlo and set-membership methods for the global localization of underwater robots,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, pp. 199-204.
    [Bibtex]
    @INPROCEEDINGS{NEULAND2014,
    author={R. Neuland and J. Nicola and R. Maffei and L. Jaulin and E. Prestes and M. Kolberg},
    booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Hybridization of Monte Carlo and set-membership methods for the global localization of underwater robots},
    year={2014},
    pages={199-204},
    abstract={Probabilistic approaches are extensively used to solve high-dimensionality problems in many different fields. The particle filter is a prominent approach in the field of Robotics, due to its adaptability to non-linear models with multi-modal distributions. Nonetheless, its result is strongly dependent on the quality and the number of samples required to cover the space of possible solutions. In contrast, interval analysis deals with high-dimensionality problems by reducing the space enclosing the actual solution. Notwithstanding, it cannot precise where in the resulting subspace the actual solution is. We devised a strategy that combines the best of both worlds. Our approach is illustrated by solving the global localization problem for underwater robots.},
    keywords={Monte Carlo methods;autonomous underwater vehicles;set theory;Monte Carlo method hybridization;filter interval analysis;global localization problem;high-dimensionality problems;particle filter;probabilistic approaches;set-membership method hybridization;underwater robots;Equations;Mathematical model;Probabilistic logic;Robot sensing systems;Transponders;Uncertainty},
    doi={10.1109/IROS.2014.6942561},
    ISSN={2153-0858},
    month={Sept},
    url = {http://ieeexplore.ieee.org/document/6942561/}
    }
  • [DOI] M. Kolberg, L. G. Fernandes, M. Raeder, and C. Fonseca, “JAR Tool: Using Document Analysis for Improving the Throughput of High Performance Printing Environments,” in Proceedings of the 2014 ACM Symposium on Document Engineering, New York, NY, USA, 2014, p. 175–178.
    [Bibtex]
    @inproceedings{KOLBERG2014,
    author = {Kolberg, Mariana and Fernandes, Luiz Gustavo and Raeder, Mateus and Fonseca, Carolina},
    title = {JAR Tool: Using Document Analysis for Improving the Throughput of High Performance Printing Environments},
    booktitle = {Proceedings of the 2014 ACM Symposium on Document Engineering},
    series = {DocEng '14},
    year = {2014},
    isbn = {978-1-4503-2949-1},
    location = {Fort Collins, Colorado, USA},
    pages = {175--178},
    numpages = {4},
    url = {http://doi.acm.org/10.1145/2644866.2644887},
    doi = {10.1145/2644866.2644887},
    acmid = {2644887},
    publisher = {ACM},
    address = {New York, NY, USA},
    keywords = {document analysis, document profiling, high performance printing, load balancing},
    url = {Digital printers have consistently improved their speed in the past years. Meanwhile, the need for document personalization and customization has increased. As a consequence of these two facts, the traditional rasterization process has become a highly demanding computational step in the printing workflow. Moreover, Print Service Providers are now using multiple RIP engines to speed up the whole document rasterization process, and depending on the input document characteristics the rasterization process may not achieve the print-engine speed creating a unwanted bottleneck. In this scenario, we developed a tool called Job Adaptive Router (JAR) aiming at improving the throughput of the rasterization process through a clever load balance among RIP engines which is based on information obtained by the analysis of input documents content. Furthermore, along with this tool we propose some strategies that consider relevant characteristics of documents, such as transparency and reusability of images, to split the job in a more intelligent way. The obtained results confirm that the use of the proposed tool improved the rasterization process performance.}
    }
  • F. LORENZI, B. FONTANELLA, E. Prestes, and C. TROJAHN, “How to improve multi-agent recommendations using data from social networks?,” in International Conference of the Florida Artificial Intelligence Research Society, 2014.
    [Bibtex]
    @INPROCEEDINGS{LORENZI2014,
    author={LORENZI, F. and FONTANELLA, B. and Prestes, Edson and TROJAHN, C.},
    booktitle={International Conference of the Florida Artificial Intelligence Research Society},
    title={How to improve multi-agent recommendations using data from social networks?},
    year={2014},
    abstract={User profiles have an important role in multi-agent recommender systems. The information stored in them improves the system's generated recommendations. Multi-agent recommender systems learn from previous recommendations to update users' profiles and improving next recommendations according to the user feedback. However, when the user does not evaluate the recommendations the system may deliver poor recommendations in the future. This paper presents a mechanism that explores user information from social networks to update the user profile and to generate implicit evaluations on behalf of the user. The mechanism was validated with travel packages recommendations and some preliminary results illustrate how user information gathered from social networks may help to improve recommendations in multi-agent recommender systems.},
    url = {https://www.aaai.org/ocs/index.php/FLAIRS/FLAIRS14/paper/view/7838}
    }

2013

  • C. SCHLENOFF, E. Prestes, A. CHIBANI, and Y. AMIRAT, Special Issue on ‘Ubiquitous Robotics’Elsevier Robotics and Autonomous Systems, 2013.
    [Bibtex]
    @misc{PRESTESCOAUTOR2013,
    title={ Special Issue on 'Ubiquitous Robotics'},
    author={ SCHLENOFF, C. and Prestes, Edson and CHIBANI, A. and AMIRAT, YACINE},
    year={2013},
    publisher={ Elsevier Robotics and Autonomous Systems}
    }
  • [DOI] E. Prestes, J. L. Carbonera, S. R. Fiorini, V. A. M. Jorge, M. Abel, R. Madhavan, A. Locoro, P. Goncalves, M. E. Barreto, M. Habib, A. Chibani, S. Gérard, Y. Amirat, and C. Schlenoff, “Towards a core ontology for robotics and automation,” Robotics and Autonomous Systems, vol. 61, iss. 11, pp. 1193-1204, 2013.
    [Bibtex]
    @article{PRESTES20131193,
    title = "Towards a core ontology for robotics and automation",
    journal = "Robotics and Autonomous Systems",
    volume = "61",
    number = "11",
    pages = "1193 - 1204",
    year = "2013",
    note = "Ubiquitous Robotics",
    issn = "0921-8890",
    doi = "http://dx.doi.org/10.1016/j.robot.2013.04.005",
    url = "http://www.sciencedirect.com/science/article/pii/S0921889013000596",
    author = "Edson Prestes and Joel Luis Carbonera and Sandro Rama Fiorini and Vitor A. M. Jorge and Mara Abel and Raj Madhavan and Angela Locoro and Paulo Goncalves and Marcos E. Barreto and Maki Habib and Abdelghani Chibani and Sébastien Gérard and Yacine Amirat and Craig Schlenoff",
    abstract = "In this paper, we present the current results of the newly formed IEEE-RAS Working Group, named Ontologies for Robotics and Automation. In particular, we introduce a core ontology that encompasses a set of terms commonly used in Robotics and Automation along with the methodology we have adopted. Our work uses ISO/FDIS 8373 standard developed by the ISO/TC184/SC2 Working Group as a reference. This standard defines, in natural language, some generic terms which are common in Robotics and Automation such as robot, robotic device, etc. Furthermore, we discuss the ontology development process employed along with the problems and decisions taken."
    }
  • [DOI] T. Haidegger, M. Barreto, P. Gonçalves, M. K. Habib, S. K. V. Ragavan, H. Li, A. Vaccarella, R. Perrone, and E. Prestes, “Applied ontologies and standards for service robots,” Robotics and Autonomous Systems, vol. 61, iss. 11, pp. 1215-1223, 2013.
    [Bibtex]
    @article{HAIDEGGER20131215,
    title = "Applied ontologies and standards for service robots",
    journal = "Robotics and Autonomous Systems",
    volume = "61",
    number = "11",
    pages = "1215 - 1223",
    year = "2013",
    note = "Ubiquitous Robotics",
    issn = "0921-8890",
    doi = "http://dx.doi.org/10.1016/j.robot.2013.05.008",
    url = "http://www.sciencedirect.com/science/article/pii/S092188901300105X",
    author = "Tamás Haidegger and Marcos Barreto and Paulo Gonçalves and Maki K. Habib and Sampath Kumar Veera Ragavan and Howard Li and Alberto Vaccarella and Roberta Perrone and Edson Prestes",
    abstract = "Service robotics is an emerging application area for human-centered technologies. The rise of household and personal assistance robots forecasts a human–robot collaborative society. One of the robotics community’s major task is to streamline development trends, work on the harmonization of taxonomies and ontologies, along with the standardization of terms, interfaces and technologies. It is important to keep the scientific progress and public understanding synchronous, through efficient outreach and education. These efforts support the collaboration among research groups, and lead to widely accepted standards, beneficial for both manufacturers and users. This article describes the necessity of developing robotics ontologies and standards focusing on the past and current research efforts. In addition, the paper proposes a roadmap for service robotics ontology development. The IEEE Robotics & Automation Society is sponsoring the working group Ontologies for Robotics and Automation. The efforts of the Working group are presented here, aiming to connect the cutting edge technology with the users of these services—the general public."
    }
  • [DOI] E. Prestes, V. Jorge, M. Campos, and R. A. F. Romero, “Robotics and Automation Activities in Brazil (IAB),” IEEE Robotics Automation Magazine, vol. 20, iss. 2, pp. 14-16, 2013.
    [Bibtex]
    @ARTICLE{PRESTES2013,
    author={E. Prestes and V. Jorge and M. Campos and R. A. F. Romero},
    journal={IEEE Robotics Automation Magazine},
    title={Robotics and Automation Activities in Brazil (IAB)},
    year={2013},
    volume={20},
    number={2},
    pages={14-16},
    abstract={Covering an area of 8.5 million km2 and with a population of around 200 million people, Brazil emerged in the international scene as a country with a solid economy and stable currency, being able to cope with the disastrous effects of the current global economic crisis. It recently received the investment grade from prominent risk-assessment agencies, which means the country is more likely to meet payment obligations, attracting more investments. In addition, Brazil, Russia, India, China, and South Africa formed a group known as Brazil, Russia, India, China, and South Africa (BRICS) to discuss and implement ways to improve the global economic scenario. Brazil is also a full member of the Mercosur and actively participated in numerous United Nations missions.},
    doi={10.1109/MRA.2013.2255471},
    ISSN={1070-9932},
    month={June},
    URL = { https://http://ieeexplore.ieee.org/document/6524070/ }
    }
  • C. Schlenoff, A. Chibani, E. P. e Silva, and Y. Amirat, “Ubiquitous robots (UBIROBOTS) workshop at the UBICOMP 2012 conference,” Robotics and Autonomous Systems, vol. 61, pp. 1159-1161, 2013.
    [Bibtex]
    @article{Schlenoff2013UbiquitousR,
    title={Ubiquitous robots (UBIROBOTS) workshop at the UBICOMP 2012 conference},
    author={Craig Schlenoff and Abdelghani Chibani and Edson Prestes e Silva and Yacine Amirat},
    journal={Robotics and Autonomous Systems},
    year={2013},
    volume={61},
    pages={1159-1161}
    }
  • [DOI] R. Maffei, V. Jorge, M. Kolberg, and E. Prestes, “Segmented DP-SLAM,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 31-36.
    [Bibtex]
    @INPROCEEDINGS{MAFFEI2013,
    author={R. Maffei and V. Jorge and M. Kolberg and E. Prestes},
    booktitle={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Segmented DP-SLAM},
    year={2013},
    pages={31-36},
    abstract={Simultaneous Localization and Mapping (SLAM) is one of the most difficult tasks in mobile robotics. While the construction of consistent and coherent local solutions is simple, the SLAM remains a critical problem as the distance travelled by the robot increases. To circumvent this limitation, many strategies divide the environment in small regions, and formulate the SLAM problem as a combination of multiple precise submaps. In this paper, we propose a new submap-based particle filter algorithm called Segmented DP-SLAM, that combines an optimized data structure to store the maps of the particles with a probabilistic map of segments, representing hypothesis of submaps topologies. We evaluate our method through experimental results obtained in simulated and real environments.},
    keywords={SLAM (robots);data structures;mobile robots;particle filtering (numerical methods);probability;topology;mobile robotics;optimized data structure;probabilistic map;segmented DP-SLAM;simultaneous localization and mapping;submap-based particle filter algorithm;submaps topology;Estimation;Iterative closest point algorithm;Robot kinematics;Simultaneous localization and mapping;Topology;Trajectory},
    doi={10.1109/IROS.2013.6696328},
    ISSN={2153-0858},
    month={Nov},
    url = {http://ieeexplore.ieee.org/document/6696328/}
    }
  • [DOI] J. L. Carbonera, S. R. Fiorini, E. Prestes, V. A. M. Jorge, M. Abel, R. Madhavan, A. Locoro, P. Gonçalves, T. Haidegger, M. E. Barreto, and C. Schlenoff, “Defining positioning in a core ontology for robotics,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 1867-1872.
    [Bibtex]
    @INPROCEEDINGS{CARBONERA2013,
    author={J. L. Carbonera and S. R. Fiorini and E. Prestes and V. A. M. Jorge and M. Abel and R. Madhavan and A. Locoro and P. Gonçalves and T. Haidegger and M. E. Barreto and C. Schlenoff},
    booktitle={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Defining positioning in a core ontology for robotics},
    year={2013},
    pages={1867-1872},
    abstract={Unambiguous definition of spatial position and orientation has crucial importance for robotics. In this paper we propose an ontology about positioning. It is part of a more extensive core ontology being developed by the IEEE RAS Working Group on ontologies for robotics and automation. The core ontology should provide a common ground for further ontology development in the field. We give a brief overview of concepts in the core ontology and then describe an integrated approach for representing quantitative and qualitative position information.},
    keywords={control engineering computing;ontologies (artificial intelligence);position control;robots;IEEE RAS Working Group;core ontology;ontology development;positioning;qualitative position information;quantitative position information;robotics;spatial orientation;spatial position;Automation;Ontologies;Position measurement;Robot kinematics;Robot sensing systems;Service robots},
    doi={10.1109/IROS.2013.6696603},
    ISSN={2153-0858},
    month={Nov},
    URL = {http://ieeexplore.ieee.org/document/6696603/}
    }
  • [DOI] T. Haidegger, M. Barreto, P. J. S. Goncalves, M. K. Habib, S. V. Ragavan, H. Li, A. Vaccarella, R. Perrone, and E. Prestes, “Robot ontologies for sensor- and Image-guided surgery,” in 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE), 2013, pp. 19-24.
    [Bibtex]
    @INPROCEEDINGS{HAIDEGGER2013,
    author={T. Haidegger and M. Barreto and P. J. S. Goncalves and M. K. Habib and S. V. Ragavan and H. Li and A. Vaccarella and R. Perrone and E. Prestes},
    booktitle={2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)},
    title={Robot ontologies for sensor- and Image-guided surgery},
    year={2013},
    pages={19-24},
    abstract={Robots and robotics are becoming more complex and flexible, due to technological advancement, improved sensing capabilities and machine intelligence. Service robots target a wide range of applications, relying on advanced Human-Robot Interaction. Medical robotics is becoming a leading application area within, and the number of surgical, rehabilitation and hospital assistance robots is rising rapidly. However, the complexity of the medical environment has been a major barrier, preventing a wider use of robotic technology, thus mostly teleoperated, human-in-the-loop control solutions emerged so far. Providing smarter and better medical robots requires a systematic approach in describing and translating human processes for the robots. It is believed that ontologies can bridge human cognitive understanding and robotic reasoning (machine intelligence). Besides, ontologies serve as a tool and method to assess the added value robotic technology brings into the medical environment. The purpose of this paper is to identify relevant ontology research in medical robotic, and to review the state-of-the-art. It focuses on the surgical domain, fundamental terminology and interactions are described for two example applications in neurosurgery and orthopaedics.},
    keywords={inference mechanisms;medical robotics;ontologies (artificial intelligence);surgery;hospital assistance robots;human cognitive understanding;human-in-the-loop control solutions;human-robot interaction;image-guided surgery;machine intelligence;medical environment;medical robotics;neurosurgery;orthopaedics;rehabilitation robots;robot ontologies;robotic reasoning;robotic technology;sensor-guided surgery;surgical domain;surgical robots;Biomedical optical imaging;Lead;Ontologies;Robot sensing systems;Surgery;Robot ontologies;cognitive robots;image-guided surgery;surgical obotics},
    doi={10.1109/ROSE.2013.6698412},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/6698412/}
    }
  • V. LARA, M. KOLBERG, and L. G. FERNANDES, Resolução paralela verificada de sistemas de equações lineares : uma análise do impacto no desempenho da técnica DVFS para eficiência energéticaAnais da Escola Regional de Alto Desempenho 2013, 2013.
    [Bibtex]
    @misc{KOLBERGRESCONF1,
    title={ Resolução paralela verificada de sistemas de equações lineares : uma análise do impacto no desempenho da técnica DVFS para eficiência energética},
    author={LARA, V. and KOLBERG, M. and FERNANDES, L. G.},
    year={2013},
    pages={107-108},
    publisher={ Anais da Escola Regional de Alto Desempenho 2013}
    }

2012

  • [DOI] L. G. Fernandes, T. Nunes, M. Kolberg, F. Giannetti, R. Nemetz, and A. Cabeda, “Job profiling and queue management in high performance printing,” Computer Science – Research and Development, vol. 27, iss. 2, p. 147–166, 2012.
    [Bibtex]
    @Article{FERNANDES2012,
    author="Fernandes, Luiz Gustavo  and Nunes, Thiago and Kolberg, Mariana and Giannetti, Fabio and Nemetz, Rafael and Cabeda, Alexis",
    title="Job profiling and queue management in high performance printing",
    journal="Computer Science - Research and Development",
    year="2012",
    month="May",
    day="01",
    volume="27",
    number="2",
    pages="147--166",
    abstract="Digital presses have consistently improved their speed in the past ten years. Meanwhile, the need for document personalization and customization has increased. As a consequence of these two facts, the traditional RIP (Raster Image Processing) process has become a highly demanding computational step in the print workflow. Print Service Providers (PSP) are now using multiple RIP engines and parallelization strategies to speed up the whole ripping process which is currently based on a per-page basis. Nevertheless, these strategies are not optimized in terms of ensuring the best Return On Investment (ROI) for the RIP engines. Depending on the input document jobs characteristics, the ripping step may not achieve the print-engine speed creating a unwanted bottleneck. The aim of this paper is to present a way to improve the ROI of PSPs proposing a profiling strategy which enables the optimal usage of RIPs for specific jobs features ensuring that jobs are always consumed at least at engine speed. The profiling strategy is based on a per-page analysis of input Portable Document Format (PDF) jobs identifying their key components. This work introduces a PDF Profiler tool aimed at extracting information from jobs and some metrics to predict a job ripping cost based on its profile. This information is extremely useful to rasterize jobs in a clever way. The computational cost estimated using the information extracted by the PDF Profiler and the proposed metrics is useful for the print jobs queue management to improve the allocated RIPs load balance, resulting in a higher throughput for the ripping step. Experiments have been carried out in order to evaluate the PDF Profiler, the proposed metrics and their impact in the print jobs queue management.",
    issn="1865-2042",
    doi="10.1007/s00450-010-0134-0",
    }
  • [DOI] R. A. F. Romero, E. Prestes, M. A. P. Idiart, and G. Faria, “Locally oriented potential field for controlling multi-robots,” Communications in Nonlinear Science and Numerical Simulation, vol. 17, iss. 12, pp. 4664-4671, 2012.
    [Bibtex]
    @article{ROMERO20124664,
    title = "Locally oriented potential field for controlling multi-robots",
    journal = "Communications in Nonlinear Science and Numerical Simulation",
    volume = "17",
    number = "12",
    pages = "4664 - 4671",
    year = "2012",
    note = "",
    issn = "1007-5704",
    doi = "http://dx.doi.org/10.1016/j.cnsns.2011.10.027",
    url = "http://www.sciencedirect.com/science/article/pii/S1007570411005971",
    author = "Roseli A.F. Romero and Edson Prestes and Marco A.P. Idiart and Gedson Faria",
    abstract = "In this paper, we present an extension of the boundary value problem path planner (BVP PP) to control multiple robots in a robot soccer scenario. This extension is called Locally Oriented Potential Field (LOPF) and computes a potential field from the numerical solution of a BVP using local relaxations in different patches of the solution space. This permits that a single solution of the BVP endows distinct robots with different behaviors in a team. We present the steps to implement LOPF as well as several results obtained in simulation."
    }
  • [DOI] E. Prestes, A. Chibani, A. Saffiotti, C. Schlenoff, S. Gérard, R. Sanz, M. E. Barreto, R. Madhavan, and Y. Amirat, “Towards an Upper Ontology and Methodology for Robotics and Automation,” in Proceedings of the 2012 ACM Conference on Ubiquitous Computing, New York, NY, USA, 2012, p. 873–882.
    [Bibtex]
    @INPROCEEDINGS{PRESTES201210,
    author = {Prestes, Edson and Chibani, Abdelghani and Saffiotti, Alessandro and Schlenoff, Craig and G{\'e}rard, S{\'e}bastien and Sanz, Ricardo and Barreto, Marcos E. and Madhavan, Raj and Amirat, Yacine},
    title = {Towards an Upper Ontology and Methodology for Robotics and Automation},
    booktitle = {Proceedings of the 2012 ACM Conference on Ubiquitous Computing},
    series = {UbiComp '12},
    year = {2012},
    isbn = {978-1-4503-1224-0},
    location = {Pittsburgh, Pennsylvania},
    pages = {873--882},
    numpages = {10},
    url = {http://doi.acm.org/10.1145/2370216.2370414},
    doi = {10.1145/2370216.2370414},
    acmid = {2370414},
    publisher = {ACM},
    address = {New York, NY, USA},
    keywords = {methodologies, ontologies, robotics},
    abstract = {In this article, we present the ongoing efforts within the newly formed IEEE-RAS Working Group named Ontologies for Robotics and Automation. We focus in particular on one of the four subgroups that compose this working group, called the Upper Ontology/Methodology (UpOM) subgroup. As the name indicates, the aim of this subgroup is to develop an upper ontology and a methodology for ontology building and evaluation. This methodology will be used to coordinate the distributed development of domain specific ontologies by the other three subgroups, and to generate a global ontology that we hope will contribute to the standardization process of robotics and automation. This paper presents the composition, the envisioned methodology, and the future work of the UpOM subgroup. It also discusses some general aspects related to ontologies for the robotics and automation field, and to the efforts in standardizing them.}
    }
  • [DOI] C. Schlenoff, E. Prestes, R. Madhavan, P. Goncalves, H. Li, S. Balakirsky, T. Kramer, and E. Migueláñez, “An IEEE standard Ontology for Robotics and Automation,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, pp. 1337-1342.
    [Bibtex]
    @INPROCEEDINGS{SCHLENOFF2012,
    author={C. Schlenoff and E. Prestes and R. Madhavan and P. Goncalves and H. Li and S. Balakirsky and T. Kramer and E. Migueláñez},
    booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={An IEEE standard Ontology for Robotics and Automation},
    year={2012},
    pages={1337-1342},
    abstract={This article discusses a newly formed IEEE-RAS working group entitled Ontologies for Robotics and Automation (ORA). The goal of this working group is to develop a standard ontology and associated methodology for knowledge representation and reasoning in robotics and automation, together with the representation of concepts in an initial set of application domains. The standard provides a unified way of representing knowledge and provides a common set of terms and definitions, allowing for unambiguous knowledge transfer among any group of humans, robots, and other artificial systems. In addition to describing the goal and structure of the group, this article gives some examples of how the ontology, once developed, can be used by applications such as industrial kitting.},
    keywords={inference mechanisms;knowledge management;ontologies (artificial intelligence);robots;IEEE standard ontology;IEEE-RAS working group;ORA;artificial systems;concepts representation;knowledge reasoning;knowledge representation;ontologies for robotics and automation;unambiguous knowledge transfer;Automation;Ontologies;Robot kinematics;Service robots;Standards},
    doi={10.1109/IROS.2012.6385518},
    ISSN={2153-0858},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/6385518/}
    }
  • [DOI] T. Haidegger, M. E. Barreto, P. J. S. Gonçalves, M. Habib, V. Ragavan, C. Schlenoff, A. Vaccarella, and E. Prestes, “Nesting the Context for Pervasive Robotics,” in Proceedings of the 2012 ACM Conference on Ubiquitous Computing, New York, NY, USA, 2012, p. 826–833.
    [Bibtex]
    @INPROCEEDINGS{HAIDEGGER2012,
    author = {Haidegger, Tam\'{a}s and Barreto, Marcos E. and Gon\c{c}alves, Paulo J. S. and Habib, Maki and Ragavan, Veera and Schlenoff, Craig and Vaccarella, Alberto and Prestes, Edson},
    title = {Nesting the Context for Pervasive Robotics},
    booktitle = {Proceedings of the 2012 ACM Conference on Ubiquitous Computing},
    series = {UbiComp '12},
    year = {2012},
    isbn = {978-1-4503-1224-0},
    location = {Pittsburgh, Pennsylvania},
    pages = {826--833},
    numpages = {8},
    url = {http://doi.acm.org/10.1145/2370216.2370406},
    doi = {10.1145/2370216.2370406},
    acmid = {2370406},
    publisher = {ACM},
    address = {New York, NY, USA},
    keywords = {cloud robotics, human-robot interaction, robot ontologies, service robotics},
    abstract = {Service robotics is becoming a leading application area of human-centered technologies, and the rise of household and personal assistance robots forecasts an utopist world of human--robot collaborative society. Along the road, one of the robotics community's major tasks is to work on the harmonization of trends, standardization of terms, interfaces and technologies. It is important to keep the scientific and social progress under control through sufficient public outreach and technology dissemination. Along those lines, the IEEE Robotics & Automation Society is sponsoring a working group entitled Ontologies for Robotics and Automation that will bridge cutting edge technology to users of the services---the general public. In this paper, the background of the project is presented, the definitions and examples of descriptive systems of relations are described, showing how ontologies can help to address the above challenges.}
    }

2011

  • M. L. Kolberg, W. Kramer, and M. Zimmer, “Efficient parallel solvers for large dense systems of linear interval equations,” Reliable Computing, vol. 15, iss. 3, pp. 193-206, 2011.
    [Bibtex]
    @article {KOLBERG2011,
    author = {Kolberg, M. L. and Kramer, Walter and Zimmer, M.},
    title = {Efficient parallel solvers for large dense systems of linear interval equations},
    journal = {Reliable Computing},
    volume = {15},
    number = {3},
    issn = {},
    url = {},
    doi = {},
    pages = {193-206},
    keywords = {},
    year = {2011},
    abstract = {}
    }
  • [DOI] E. Prestes and P. M. Engel, “Exploration driven by local potential distortions,” in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 1122-1127.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2011,
    author={E. Prestes and P. M. Engel},
    booktitle={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Exploration driven by local potential distortions},
    year={2011},
    pages={1122-1127},
    abstract={Boundary Value Problem (BVP) Path Planners generate potential fields whose gradient descent represents navigational routes from any point of the environment to a goal position. The resulting trajectories are smooth and free of local minima. A BVP planner has been recently used to compute trajectories in known inhomogeneous environments, corresponding to different degrees of traveling difficulties. In this case, we locally distort the potential field generating regions with high or low preferences for navigating. In this paper, we extend this idea, generating an strategy allowing the robot to explore an unknown environment dynamically considering environment preferences. Several experiments demonstrate that our method can be used as a core in an integrated exploration approach.},
    keywords={Harmonic analysis;Robot kinematics;Robot sensing systems;Trajectory;Vectors},
    doi={10.1109/IROS.2011.6094674},
    ISSN={2153-0858},
    month={Sept},
    url = {http://ieeexplore.ieee.org/document/6094674/}
    }
  • B. GOERL, C. MILANI, M. RAEDER, M. L. KOLBERG, and L. G. FERNANDES, Bibliotecas e Ferramentas para Computação Numérica de Alto DesempenhoERAD 2011 – Escola Regional de Alto Desempenho, 2011.
    [Bibtex]
    @misc{KOLBERGRESUMO0,
    title={ Bibliotecas e Ferramentas para Computação Numérica de Alto Desempenho},
    author={GOERL, B. and MILANI, C. and RAEDER, M. and KOLBERG, M. L. and FERNANDES, L. G.},
    year={2011},
    pages="225-228",
    publisher={ ERAD 2011 - Escola Regional de Alto Desempenho}
    }

2010

  • L. G. Fernandes, M. L. Kolberg, and C. Milani, “Intervals on Self-verified Linear Systems Solver for Multicore Computers,” Interval Mathematics and Connections in Teaching and Scientific Development, vol. 1, pp. 35-42, 2010.
    [Bibtex]
    @article {FERNANDES2010,
    author = {Fernandes, L. G. and Kolberg, M. L. and Milani, C.},
    title = {Intervals on Self-verified Linear Systems Solver for Multicore Computers},
    journal = {Interval Mathematics and Connections in Teaching and Scientific Development},
    volume = {1},
    number = {},
    issn = {},
    url = {},
    doi = {},
    pages = {35-42},
    keywords = {},
    year = {2010},
    abstract = {}
    }
  • M. L. Kolberg, L. G. Fernandes, and D. M. Claudio, “Parallel Self-verified Linear System Solver on Cluster Computers,” Interval Mathematics and Connections in Teaching and Scientific Development, vol. 1, pp. 43-50, 2010.
    [Bibtex]
    @article {KOLBERG2010,
    author = {Kolberg, M. L. and Fernandes, L. G. and Claudio, D. M.},
    title = {Parallel Self-verified Linear System Solver on Cluster Computers},
    journal = {Interval Mathematics and Connections in Teaching and Scientific Development},
    volume = {1},
    number = {},
    issn = {},
    url = {},
    doi = {},
    pages = {43-50},
    keywords = {},
    year = {2010},
    abstract = {}
    }
  • [DOI] R. Silveira, F. Dapper, E. Prestes, and L. Nedel, “Natural steering behaviors for virtual pedestrians,” The Visual Computer, vol. 26, iss. 9, p. 1183–1199, 2010.
    [Bibtex]
    @article{Silveira2010,
    author="Silveira, Renato and Dapper, F{\'a}bio and Prestes, Edson and Nedel, Luciana",
    title="Natural steering behaviors for virtual pedestrians",
    journal="The Visual Computer",
    year="2010",
    month="Sep",
    day="01",
    volume="26",
    number="9",
    pages="1183--1199",
    abstract="The animation of humanoids in real-time applications is yet a challenge if the problem involves attaining a precise location in a virtual world (path-planning), moving realistically according to its own personality, intentions and mood (motion planning). In this paper we propose a formally complete and low-cost solution based upon boundary value problems (BVP) to control steering behaviors of characters in dynamic environments. We use a potential field formalism that allows synthetic actors to move negotiating space, avoiding collisions, and attaining goals, while producing very individual paths. The individuality of each character can be set by changing its inner field parameters leading to a broad range of possible behaviors without jeopardizing its performance. To illustrate the technique potentialities, some results exploring situations as steering behavior in corridors with collision avoidance and competition for a goal, and searching for objects in unknown environments are presented and discussed. A proposal to automatically change the size of the field of view of each agent, producing different behaviors is also a contribution of this paper. Some comments about performance are also made to help the reader to evaluate the potential of the method.",
    issn="1432-2315",
    doi="10.1007/s00371-009-0399-0",
    url="https://doi.org/10.1007/s00371-009-0399-0"
    }
  • [DOI] E. Prestesy and M. Idiartz, “Computing navigational routes in inhomogeneous environments using BVP Path Planner,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 1427-1432.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2010,
    author={E. Prestesy and M. Idiartz},
    booktitle={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Computing navigational routes in inhomogeneous environments using BVP Path Planner},
    year={2010},
    pages={1427-1432},
    abstract={BVP Path Planners generate potential fields whose gradient descent represents navigational routes from any point of the environment to a goal position. The resulting trajectories are smooth and free of local minima. In this paper, we proceed with our comprehensive study on possible forms for the core equation of the planner. The main goal is to allow the planner to deal with inhomogeneous environments. The navigational potential is calculated independently in different patches of the environment. Each patch has its own bias for potential concavity (or convexity), then creating regions with higher or lower traveling preferences. By using simulated experiments we compare the performance of the new BVP with some recent proposals.},
    keywords={boundary-value problems;gradient methods;path planning;position control;BVP path planner;boundary value problems;gradient descent;inhomogeneous environments;navigational routes},
    doi={10.1109/IROS.2010.5650604},
    ISSN={2153-0858},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/5650604/}
    }
  • [DOI] R. Silveira, E. Prestes, and L. Nedel, “Fast path planning using multi-resolution boundary value problems,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 4710-4715.
    [Bibtex]
    @INPROCEEDINGS{SILVEIRA2010a,
    author={R. Silveira and E. Prestes and L. Nedel},
    booktitle={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Fast path planning using multi-resolution boundary value problems},
    year={2010},
    pages={4710-4715},
    abstract={BVP Path Planners generate potential fields through a differential equation whose gradient descent represents navigation routes from any point of the environment to a goal position. Resulting paths are smooth and free from local minima. In spite of these advantages, this kind of planners consumes a lot of time to produce a solution. In this paper, we present a new approach that combines our BVP Path Planner with the Full Multigrid Method, which solves elliptic partial differential equations using a hierarchical strategy. Our new approach, called Hierarchical BVP Path Planner, enables real-time performance on large environments. Results show that our proposal spends less than 1 percent of the time needed to compute a solution using our original planner in several environments.},
    keywords={boundary-value problems;elliptic equations;mobile robots;partial differential equations;path planning;boundary value problem;differential equation;elliptic equation;multigrid method;partial differential equation;path planning},
    doi={10.1109/IROS.2010.5650673},
    ISSN={2153-0858},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/5650673/}
    }
  • R. Silveira, L. FISCHER, J. A. S. FERREIRA, E. Prestes, and L. Nedel, “Path-Planning for RTS Games Based on Potential Fields,” in Third International Conference on Motion in Games, 2010, pp. 410-421.
    [Bibtex]
    @INPROCEEDINGS{SILVEIRA20101,
    author={R. Silveira and FISCHER, L. and FERREIRA, J. A. S and E. Prestes and L. Nedel},
    booktitle={Third International Conference on Motion in Games},
    title={Path-Planning for RTS Games Based on Potential Fields},
    year={2010},
    pages={410-421}
    }
  • C. MILANI, M. L. KOLBERG, and L. G. FERNANDES, “Solving Dense Interval Linear Systems with Verified Computing on Multicore Architectures,” in VECPAR 2010 -High Performance Computing for Computational Science, Berlin Heidelberg: Springer, 2010, pp. 435-448.
    [Bibtex]
    @Inbook{MILANI2010,
    author={MILANI, C. and KOLBERG, M. L. and FERNANDES, L. G},
    booktitle={VECPAR 2010 -High Performance Computing for Computational Science},
    title={Solving Dense Interval Linear Systems with Verified Computing on Multicore Architectures},
    year={2010},
    pages={435-448},
    publisher="Berlin Heidelberg: Springer",
    abstract={},
    doi={},
    ISSN={},
    month={},
    url = {}
    }
  • M. BREITENBACH, C. M. FONSECA, M. RAEDER, M. L. KOLBERG, and L. G. FERNANDES, Balanceamento de Carga na Rasterização de Documentos PDFEscola Regional de Alto Desempenho, 2010.
    [Bibtex]
    @misc{KOLBERGRESUMO1,
    title={ Balanceamento de Carga na Rasterização de Documentos PDF},
    author={BREITENBACH, M. and FONSECA, C. M. and RAEDER, M. and KOLBERG, M. L. and FERNANDES, L. G.},
    year={2010},
    pages={185-185},
    publisher={ Escola Regional de Alto Desempenho}
    }
  • C. MILANI, M. L. KOLBERG, and L. G. FERNANDES, Resolução Verificada de Sistemas Lineares Intervalares Densos de Grande Porte em Arquiteturas MulticoreEscola Regional de Alto Desempenho, 2010.
    [Bibtex]
    @misc{KOLBERGRESCONF2,
    title={ Resolução Verificada de Sistemas Lineares Intervalares Densos de Grande Porte em Arquiteturas Multicore},
    author={MILANI, C. and KOLBERG, M. L. and FERNANDES, L. G.},
    year={2010},
    pages={135-135},
    publisher={ Escola Regional de Alto Desempenho}
    }
  • C. M. FONSECA, M. RAEDER, M. L. KOLBERG, and L. G. FERNANDES, Otimizando o Escalonamento de Jobs no Processo de Rasterização de Documentos PersonalizáveisEscola Regional de Alto Desempenho, 2010.
    [Bibtex]
    @misc{KOLBERGRESCONF3,
    title={ Otimizando o Escalonamento de Jobs no Processo de Rasterização de Documentos Personalizáveis},
    author={FONSECA, C. M. and RAEDER, M. and KOLBERG, M. L. and FERNANDES, L. G.},
    year={2010},
    pages={125-125},
    publisher={ Escola Regional de Alto Desempenho}
    }
  • R. NEMETZ, M. RAEDER, M. L. KOLBERG, and L. G. FERNANDES, Acelerando o Fluxo Global de Tarefas no Processo de Impressão DistribuídaEscola Regional de Alto Desempenho, 2010.
    [Bibtex]
    @misc{KOLBERGRESCONF4,
    title={ Acelerando o Fluxo Global de Tarefas no Processo de Impressão Distribuída},
    author={NEMETZ, R. and RAEDER, M. and KOLBERG, M. L. and FERNANDES, L. G.},
    year={2010},
    pages={87-87},
    publisher={ Escola Regional de Alto Desempenho}
    }

2009

  • E. Prestes, M. Ritt, and G. Fur, “An improved particle filter for sparse environments,” Journal of the Brazilian Computer Society, vol. 15, pp. 55-64, 2009.
    [Bibtex]
    @article{PRESTES20090,
    title = {{An improved particle filter for sparse environments}},
    journal = {{Journal of the Brazilian Computer Society}},
    author={Prestes, Edson and Ritt, Marcus and Fur, Gustavo},
    ISSN = {0104-6500},
    URL = {http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65002009000300006&nrm=iso},
    volume = {15},
    year = {2009},
    month = {09},
    pages = {55 - 64},
    publisher = {scielo},
    crossref = {10.1007/BF03194506},
    abstract = {In this paper, we combine a path planner based on Boundary Value Problems (BVP) and Monte Carlo Localization (MCL) to solve the wake-up robot problem in a sparse environment. This problem is difficult since large regions of sparse environments do not provide relevant information for the robot to recover its pose. We propose a novel method that distributes particle poses only in relevant parts of the environment and leads the robot along these regions using the numeric solution of a BVP. Several experiments show that the improved method leads to a better initial particle distribution and a better convergence of the localization process.}
    }
  • [DOI] M. Kolberg, W. Krämer, and M. Zimmer, “A Note on Solving Problem 7 of the SIAM 100-Digit Challenge Using C-XSC,” in Numerical Validation in Current Hardware Architectures: International Dagstuhl Seminar, Dagstuhl Castle, Germany, January 6-11, 2008. Revised Papers, A. Cuyt, W. Krämer, W. Luther, and P. Markstein, Eds., Berlin, Heidelberg: Springer Berlin Heidelberg, 2009, p. 250–261.
    [Bibtex]
    @Inbook{KOLBERG2009,
    author="Kolberg, Mariana and Kr{\"a}mer, Walter and Zimmer, Michael",
    editor="Cuyt, Annie and Kr{\"a}mer, Walter and Luther, Wolfram and Markstein, Peter",
    title="A Note on Solving Problem 7 of the SIAM 100-Digit Challenge Using C-XSC",
    bookTitle="Numerical Validation in Current Hardware Architectures: International Dagstuhl Seminar, Dagstuhl Castle, Germany, January 6-11, 2008. Revised Papers",
    year="2009",
    publisher="Springer Berlin Heidelberg",
    address="Berlin, Heidelberg",
    pages="250--261",
    abstract="This paper presents the usage of a reliable parallel linear system solver to compute the solution of problem 7 of the SIAM 100-digit challenge. Tests were executed on two different clusters: ALICEnext in Wuppertal and XC1 in Karlsruhe. An approach to find all the 100 digits of the exact solution with maximum accuracy is also discussed and tested.",
    isbn="978-3-642-01591-5",
    doi="10.1007/978-3-642-01591-5_16",
    url="https://doi.org/10.1007/978-3-642-01591-5_16"
    }
  • [DOI] E. Prestes and M. Idiart, “Sculpting potential fields in the BVP Path Planner,” in 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2009, pp. 183-188.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2009,
    author={E. Prestes and M. Idiart},
    booktitle={2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
    title={Sculpting potential fields in the BVP Path Planner},
    year={2009},
    pages={183-188},
    abstract={BVP Path Planners generate potential fields whose gradient descent represents navigational routes from any point of the environment to a goal position. The resulting trajectories are smooth and free of local minima. In this paper, we refine our BVP PP approach by introducing a novel form for the core equation that permits to easily cope with terrain inhomogeneities. This is accomplished by changing locally the concavity/convexity of the potential, and then creating regions with higher or lower traveling preferences. We present analytical results and simulated experiments to demonstrate our proposal.},
    keywords={boundary-value problems;concave programming;convex programming;gradient methods;path planning;BVP path planner;boundary value problems;gradient descent;navigational routes;potential field concavity;potential field convexity;potential fields;traveling preferences;Analytical models;Biomimetics;Boundary conditions;Boundary value problems;Laplace equations;Navigation;Orbital robotics;Partial differential equations;Proposals;Robots},
    doi={10.1109/ROBIO.2009.5420620},
    month={Dec},
    url = {http://ieeexplore.ieee.org/document/5420620/}
    }
  • [DOI] T. Nunes, F. Giannetti, M. Kolberg, R. Nemetz, A. Cabeda, and L. G. Fernandes, “Job Profiling in High Performance Printing,” in Proceedings of the 9th ACM Symposium on Document Engineering, New York, NY, USA, 2009, p. 109–118.
    [Bibtex]
    @inproceedings{NUNES2009,
    author = {Nunes, Thiago and Giannetti, Fabio and Kolberg, Mariana and Nemetz, Rafael and Cabeda, Alexis and Fernandes, Luiz Gustavo},
    title = {Job Profiling in High Performance Printing},
    booktitle = {Proceedings of the 9th ACM Symposium on Document Engineering},
    series = {DocEng '09},
    year = {2009},
    isbn = {978-1-60558-575-8},
    location = {Munich, Germany},
    pages = {109--118},
    numpages = {10},
    url = {http://doi.acm.org/10.1145/1600193.1600218},
    doi = {10.1145/1600193.1600218},
    acmid = {1600218},
    publisher = {ACM},
    address = {New York, NY, USA},
    keywords = {digital printing, job profililng, parallel processing, pdf, performance evaluation, print, print queue, raster image processing},
    abstract = {Digital presses have consistently improved their speed in the past ten years. Meanwhile, the need for document personalization and customization has increased. As a consequence of these two facts, the traditional RIP (Raster Image Processing) process has became a highly demanding computational step in the print workflow. Print Service Providers (PSP) are now using multiple RIP engines and parallelization strategies to speed up the whole ripping process which is currently based on a per-page base. Nevertheless, these strategies are not optimized in terms of assuring the best Return On Investment (ROI) for the RIP engines. Depending on the input document jobs characteristics, the ripping step may not achieve the print-engine speed creating a unwanted bottleneck. The aim of this paper is to present a way to improve the ROI of PSPs proposing a profiling strategy which enables the optimal usage of RIPs for specific jobs features ensuring that jobs are always consumed at least at engine speed. The profiling strategy is based on a per-page analysis of input PDF jobs identifying their key components. This work introduces a profiler tool to extract information from jobs and some metrics to predict a job ripping cost based on its profile. This information is extremely useful during the job splitting step, since jobs can be split in a clever way. This improves the load balance of the allocated RIPs engines and makes the overall process faster. Finally, experimental results are presented in order to evaluate both, the profiler and the proposed metrics.}
    }
  • [DOI] T. Nunes, M. Raeder, M. Kolberg, L. G. Fernandes, A. Cabeda, and F. Giannetti, “High Performance Printing: Increasing Personalized Documents Rendering through PPML Jobs Profiling and Scheduling,” in 2009 International Conference on Computational Science and Engineering, 2009, pp. 285-291.
    [Bibtex]
    @INPROCEEDINGS{NUNES20092,
    author={T. Nunes and M. Raeder and M. Kolberg and L. G. Fernandes and A. Cabeda and F. Giannetti},
    booktitle={2009 International Conference on Computational Science and Engineering},
    title={High Performance Printing: Increasing Personalized Documents Rendering through PPML Jobs Profiling and Scheduling},
    year={2009},
    volume={1},
    pages={285-291},
    abstract={The creation of personalized documents has become a common practice on digital printing area in the past few years. In order to deal with the growing demand, print shops providers (PSPs) need to be able to print a large amount of documents in a short period of time. New languages to describe documents in uncomposed formats establishing the need for a pre-processing composition step (also called rendering step). This new step has introduced an additional computational cost for the whole printing process, what has become a critical issue on printing environments based on recent digital presses. In this scenario, the use of high performance strategies is an option to overcome those issues. Previous works introduced the use of parallel FOPs (formatting objects processor) rendering engines to speed up the pre-processing of a single document. The current work describes a new, scalable and flexible approach to increase the throughput of the pre-processing phase and defines a consistent metric to estimate the computational cost to render a PPML document. With those advances, the authors point out as future work alternatives to develop a parallel solution, capable of scheduling the document jobs increasing the overall throughput.},
    keywords={digital printing;document handling;rendering (computer graphics);scheduling;specification languages;PPML document;PPML jobs profiling;Personalized Print Markup Language;digital printing;document printing;formatting objects processor;high performance printing;jobs scheduling;personalized documents rendering;print shops provider;Computational efficiency;Digital printing;Engines;High performance computing;Laboratories;Milling machines;Phase estimation;Presses;Processor scheduling;Throughput;high performance printing;profiling documents;variable data printing},
    doi={10.1109/CSE.2009.203},
    month={Aug},
    url = {http://ieeexplore.ieee.org/document/5283108/}
    }

2008

  • [DOI] M. L. Kolberg, L. G. Fernandes, and D. M. Claudio, “Dense Linear System: A Parallel Self-verified Solver,” International Journal of Parallel Programming, vol. 36, iss. 4, p. 412–425, 2008.
    [Bibtex]
    @Article{KOLBERG20080,
    author="Kolberg, Mariana Luderitz
    and Fernandes, Luiz Gustavo
    and Claudio, Dalcidio Moraes",
    title="Dense Linear System: A Parallel Self-verified Solver",
    journal="International Journal of Parallel Programming",
    year="2008",
    month="Aug",
    day="01",
    volume="36",
    number="4",
    pages="412--425",
    abstract="This article presents a parallel self-verified solver for dense linear systems of equations. This kind of solver is commonly used in many different kinds of real applications which deal with large matrices. Nevertheless, two key problems appear to limit the use of linear system solvers to a more extensive range of real applications: solution correctness and high computational cost. In order to solve the first one, verified computing would be an interesting choice. An algorithm that uses this concept is able to find a highly accurate and automatically verified result providing more reliability. However, the performance of these algorithms quickly becomes a drawback. Aiming at a better performance, parallel computing techniques were employed. Two main parts of this method were parallelized: the computation of the approximate inverse of matrix A and the preconditioning step. The results obtained show that these optimizations increase significantly the overall performance.",
    issn="1573-7640",
    doi="10.1007/s10766-007-0058-x",
    }
  • [DOI] R. Silveira, E. Prestes, and L. P. Nedel, “Managing coherent groups,” Computer Animation and Virtual Worlds, vol. 19, iss. 3-4, p. 295–305, 2008.
    [Bibtex]
    @article {Silveira2008,
    author = {Silveira, Renato and Prestes, Edson and Nedel, Luciana P.},
    title = {Managing coherent groups},
    journal = {Computer Animation and Virtual Worlds},
    volume = {19},
    number = {3-4},
    publisher = {John Wiley & Sons, Ltd.},
    issn = {1546-427X},
    doi = {10.1002/cav.261},
    pages = {295--305},
    keywords = {groups simulation, motion planning, formation-keeping, potential field},
    year = {2008},
    abstract = {The animation of groups of characters involves the generation of some interesting steering behaviors like following a single path, moving toward a common objective, and moving while keeping a formation. This paper presents a new approach to manage the movement of groups in dynamic environments using a simple and robust algorithm that includes a strategy to keep formations during the displacement of the group. Our method is based on a boundary value problem (BVP) involving Laplace's equation and has two layers. In the first one, a group map is built to allow for local control of each individual, while in the second one a path planning is performed for each group as a whole. Results show that our technique is robust to several situations and can be implemented on GPU, which results in real-time performance for large groups. Copyright © 2008 John Wiley & Sons, Ltd.},
    }
  • [DOI] E. Prestes, M. Ritt, and G. Fuhr, “Improving Monte Carlo Localization in sparse environments using structural environment information,” in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 3465-3470.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2008,
    author={E. Prestes and M. Ritt and G. Fuhr},
    booktitle={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Improving Monte Carlo Localization in sparse environments using structural environment information},
    year={2008},
    pages={3465-3470},
    abstract={This paper presents a combination of the BVP-path planner and Monte Carlo localization to assist a robot in the global localization problem in sparse environments. This kind of environment poses a very difficult situation in this problem, since several of its regions do not provide relevant information to permit the robot to recover its pose. This paper proposes a strategy that distributes particles only in relevant parts of the environment using the information about the environment structure. Afterwards, it leads the robot along these regions using the numeric solution of a BVP involving Laplace equation. In the experiments, we also show that the information about robot motion can be used to improve the convergence rate to the correct robot pose. Simulation results are presented to illustrate the potential of the method.},
    keywords={Laplace equations;Monte Carlo methods;convergence of numerical methods;mobile robots;motion control;path planning;BVP-path planner;Laplace equation;Monte Carlo localization;convergence rate;global localization problem;numeric solution;robot pose;sparse environments;Distance measurement;Navigation;Robot motion;Robot sensing systems;Robots;Sensors;Skeleton},
    doi={10.1109/IROS.2008.4651099},
    ISSN={2153-0858},
    month={Sept},
    url = {http://ieeexplore.ieee.org/document/4651099/}
    }
  • [DOI] M. Kolberg, G. Bohlender, and D. Claudio, “Improving the Performance of a Verified Linear System Solver Using Optimized Libraries and Parallel Computation,” in High Performance Computing for Computational Science – VECPAR 2008: 8th International Conference, Toulouse, France, June 24-27, 2008. Revised Selected Papers, J. L. M. M. Palma, P. R. Amestoy, M. Daydé, M. Mattoso, and J. C. Lopes, Eds., Berlin, Heidelberg: Springer Berlin Heidelberg, 2008, p. 13–26.
    [Bibtex]
    @Inbook{KOLBERG20081,
    author="Kolberg, Mariana and Bohlender, Gerd and Claudio, Dalcidio",
    editor="Palma, Jos{\'e} M. Laginha M. and Amestoy, Patrick R. and Dayd{\'e}, Michel and Mattoso, Marta and Lopes, Jo{\~a}o Correia",
    title="Improving the Performance of a Verified Linear System Solver Using Optimized Libraries and Parallel Computation",
    bookTitle="High Performance Computing for Computational Science - VECPAR 2008: 8th International Conference, Toulouse, France, June 24-27, 2008. Revised Selected Papers",
    year="2008",
    publisher="Springer Berlin Heidelberg",
    address="Berlin, Heidelberg",
    pages="13--26",
    abstract="A parallel version of the self-verified method for solving linear systems was presented in (20, 21). In this research we propose improvements aiming at a better performance. The idea is to implement an algorithm that uses technologies as MPI communication primitives associated to libraries as LAPACK, BLAS and C-XSC, aiming to provide both self-verification and speed-up at the same time. The algorithms should find an enclosure even for ill-conditioned problems. In this scenario, a parallel version of a self-verified solver for dense linear systems appears to be essential in order to solve bigger problems. Moreover, the major goal of this research is to provide a free, fast, reliable and accurate solver for dense linear systems.",
    isbn="978-3-540-92859-1",
    doi="10.1007/978-3-540-92859-1_3",
    url="https://doi.org/10.1007/978-3-540-92859-1_3"
    }
  • [DOI] M. Kolberg, M. Dorn, L. G. Fernandes, and G. Bohlender, “Parallel Verified Linear System Solver for Uncertain Input Data,” in 2008 20th International Symposium on Computer Architecture and High Performance Computing, 2008, pp. 89-96.
    [Bibtex]
    @INPROCEEDINGS{KOLBERG20082,
    author={M. Kolberg and M. Dorn and L. G. Fernandes and G. Bohlender},
    booktitle={2008 20th International Symposium on Computer Architecture and High Performance Computing},
    title={Parallel Verified Linear System Solver for Uncertain Input Data},
    year={2008},
    pages={89-96},
    abstract={This paper presents a new parallel implementation for solving dense interval linear systems with verified computing. The use of intervals appears as one possible way to handle the uncertainty of input data in real problems. A verified method using midpoint-radius arithmetic and directed roundings was combined with optimized libraries such as SCALAPACK and PBLAS to provide a free, fast, reliable and accurate solver. Accuracy and performance results for executing this implementation in a cluster are shown. It is the authors opinion that the combination of verified and parallel computing is a powerful tool that could be used for several other mathematical problems.},
    keywords={parallel programming;dense interval linear systems;directed roundings;midpoint-radius arithmetic;parallel computing;parallel verified linear system solver;uncertain input data;Arithmetic;Concurrent computing;Equations;High performance computing;Libraries;Linear algebra;Linear systems;Optimization methods;Uncertainty;Vectors;Interval Arithmetic;Linear Systems;Parallel Computing;Uncertain Input Data;Verified Computing},
    doi={10.1109/SBAC-PAD.2008.10},
    ISSN={1550-6533},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/4685732/}
    }
  • M. L. KOLBERG, D. CORDEIRO, G. BOHLENDER, L. G. FERNANDES, and A. GOLDMAN, “A Multithreaded Verified Method for Solving Linear Systems in Dual-Core Processors,” in 9th International Workshop on State-of-the-Art in Scientific and Parallel Computing, 2008.
    [Bibtex]
    @INPROCEEDINGS{KOLBERG20083,
    author={KOLBERG, M. L. and CORDEIRO, D and BOHLENDER, Gerd and FERNANDES, L. G. and GOLDMAN, A.},
    booktitle={ 9th International Workshop on State-of-the-Art in Scientific and Parallel Computing},
    title={A Multithreaded Verified Method for Solving Linear Systems in Dual-Core Processors},
    year={2008},
    pages={},
    abstract={},
    doi={},
    ISSN={},
    month={},
    url = {}
    }
  • R. Silveira, E. Prestes, and L. Nedel, “High-level path specification and robust group control for virtual characters in interactive virtual environments,” in Computer Graphics International, 2008, pp. 100-107.
    [Bibtex]
    @INPROCEEDINGS{SILVEIRA2008a,
    author={R. Silveira and E. Prestes and L. Nedel},
    booktitle={Computer Graphics International},
    title={High-level path specification and robust group control for virtual characters in interactive virtual environments},
    year={2008},
    pages={100-107}
    }
  • M. L. KOLBERG, G. BOHLENDER, and D. M. CLAUDIO, Improving the Performance of a Verified Linear System Solver Using Optimized Libraries and Parallel ComputationNumerical Validation in Current Hardware Architectures, 2008.
    [Bibtex]
    @misc{KOLBERGRESUMO2,
    title={ Improving the Performance of a Verified Linear System Solver Using Optimized Libraries and Parallel Computation},
    author={KOLBERG, M. L. and BOHLENDER, Gerd and CLAUDIO, Dalcídio Moraes},
    year={2008},
    pages={},
    publisher={ Numerical Validation in Current Hardware Architectures}
    }
  • M. ZIMMER, M. L. KOLBERG, and W. KRAMER, Efficient parallel solvers for large dense systems of linear interval equations13th GAMM – IMACS International Symposium on Scientific Computing, 2008.
    [Bibtex]
    @misc{KOLBERGRESCONF5,
    title={ Efficient parallel solvers for large dense systems of linear interval equations},
    author={ZIMMER, M. and KOLBERG, M. L. and KRAMER, Walter},
    year={2008},
    pages={},
    publisher={ 13th GAMM - IMACS International Symposium on Scientific Computing}
    }

2007

  • [DOI] E. Prestes, “Monte Carlo Localization driven by BVP,” in IECON 2007 – 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007, pp. 2724-2729.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2007,
    author={E. Prestes},
    booktitle={IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society},
    title={Monte Carlo Localization driven by BVP},
    year={2007},
    pages={2724-2729},
    abstract={In this paper, we combine the path planner based on boundary value problems (BVP) and Monte Carlo Localization (MCL) to solve the global localization problem in sparse environments. This problem is difficult since several regions of this kind of environment do not provide relevant information for the robot to recover its pose. We propose an intelligent mechanism to put particles only in relevant parts of environment and lead the robot along these regions using the numeric solution of a BVP. Simulation results are presented to illustrate the potential of the method.},
    keywords={Monte Carlo methods;boundary-value problems;path planning;robots;Monte Carlo localization;boundary value problems;global localization problem;intelligent mechanism;robot navigation;Boundary value problems;Clustering algorithms;Error correction;Industrial Electronics Society;Intelligent robots;Monte Carlo methods;Navigation;Robot sensing systems;Simultaneous localization and mapping},
    doi={10.1109/IECON.2007.4460326},
    ISSN={1553-572X},
    month={Nov},
    url = {http://ieeexplore.ieee.org/document/4460326/}
    }
  • [DOI] M. Kolberg, L. Baldo, P. Velho, L. G. Fernandes, and D. Claudio, “Optimizing a Parallel Self-verified Method for Solving Linear Systems,” in Applied Parallel Computing. State of the Art in Scientific Computing: 8th International Workshop, PARA 2006, Umeå, Sweden, June 18-21, 2006, Revised Selected Papers, B. Kågström, E. Elmroth, J. Dongarra, and J. Wa{‘{s}}niewski, Eds., Berlin, Heidelberg: Springer Berlin Heidelberg, 2007, p. 949–955.
    [Bibtex]
    @Inbook{KOLBERG2007,
    author="Kolberg, Mariana and Baldo, Lucas and Velho, Pedro and Fernandes, Luiz Gustavo and Claudio, Dalcidio",
    editor="K{\aa}gstr{\"o}m, Bo and Elmroth, Erik and Dongarra, Jack and Wa{\'{s}}niewski, Jerzy",
    title="Optimizing a Parallel Self-verified Method for Solving Linear Systems",
    bookTitle="Applied Parallel Computing. State of the Art in Scientific Computing: 8th International Workshop, PARA 2006, Ume{\aa}, Sweden, June 18-21, 2006, Revised Selected Papers",
    year="2007",
    publisher="Springer Berlin Heidelberg",
    address="Berlin, Heidelberg",
    pages="949--955",
    abstract="Solvers for linear equation systems are commonly used in many different kinds of real applications, which deal with large matrices. Nevertheless, two key problems appear to limit the use of linear system solvers to a more extensive range of real applications: computing power and solution correctness. In a previous work, we proposed a method that employs high performance computing techniques together with verified computing techniques in order to eliminate the problems mentioned above. This paper presents an optimization of a previously proposed parallel self-verified method for solving dense linear systems of equations. Basically, improvements are related to the way communication primitives were employed and to the identification of the points in the algorithm in which mathematical accuracy is needed to achieve reliable results.",
    isbn="978-3-540-75755-9",
    doi="10.1007/978-3-540-75755-9_112",
    url="https://doi.org/10.1007/978-3-540-75755-9_112"
    }
  • F. Dapper, E. Prestes, and L. Nedel, “Generating Steering Behaviors for Virtual Humanoids using BVP Control,” in Computer Graphics International, 2007, pp. 105-114.
    [Bibtex]
    @INPROCEEDINGS{DAPPER2007,
    author=" Dapper, F{\'a}bio and Prestes, Edson and Nedel, Luciana",
    booktitle={ Computer Graphics International},
    title="Generating Steering Behaviors for Virtual Humanoids using BVP Control",
    year="2007",
    pages="105-114",
    }

2006

  • [DOI] M. Trevisan, M. A. P. Idiart, E. Prestes, and P. M. Engel, “Exploratory Navigation Based on Dynamical Boundary Value Problems,” Journal of Intelligent and Robotic Systems, vol. 45, iss. 2, p. 101–114, 2006.
    [Bibtex]
    @Article{Trevisan2006,
    author="Trevisan, Marcelo and Idiart, Marco A. P. and Prestes, Edson and Engel, Paulo M.",
    title="Exploratory Navigation Based on Dynamical Boundary Value Problems",
    journal="Journal of Intelligent and Robotic Systems",
    year="2006",
    month="Feb",
    day="01",
    volume="45",
    number="2",
    pages="101--114",
    abstract="The paper presents a general framework for concurrent navigation and exploration of unknown environments based on discrete potential fields that guide the robot motion. These potentials are obtained from a class of partial differential equation (PDE) problems called boundary value problems (BVP). The boundaries are generated from sensor readings and therefore they change as the robot moves. This framework corresponds to an extension of our previous work (Prestes, E., Idiart, M. A. P., Engel, P. and Trevisan, M.: Exploration technique using potential fields calculated from relaxation methods, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001, p. 2012; Prestes, E., Engel, P. M., Trevisan, M. and Idiart, M. A.: Exploration method using harmonic functions, Robot. Auton. Syst. 40(1) (2002), 25--42). Here, we propose that a careful choice of the PDE and the boundary conditions can produce efficient exploratory behaviors in sparse and dense environments. Furthermore, we show how to extend the exploratory behavior to produce new ones by changing dynamically the boundary function (the value of the potential at the boundaries) as the exploration takes course. Our framework is validated through a series of experiments with a real robot in office environments.",
    issn="1573-0409",
    doi="10.1007/s10846-005-9008-2",
    url="https://doi.org/10.1007/s10846-005-9008-2"
    }
  • M. KOLBERG, L. BALDO, P. VELHO, T. WEBBER, L. G. FERNANDES, P. FERNANDES, and D. M. CLAUDIO, “Parallel Selfverified Method for Solving Linear Systems,” in VECPAR – 7TH INTERNATIONAL MEETING OF HIGH PERFORMANCE COMPUTING FOR COMPUTATIONAL SCIENCE, 2006, pp. 179-190.
    [Bibtex]
    @INPROCEEDINGS{KOLBERG2006,
    author={KOLBERG, M. and BALDO, Lucas and VELHO, Pedro and WEBBER, Thais and FERNANDES, L. G. and FERNANDES, Paulo and CLAUDIO, Dalcídio Moraes},
    booktitle={VECPAR - 7TH INTERNATIONAL MEETING OF HIGH PERFORMANCE COMPUTING FOR COMPUTATIONAL SCIENCE},
    title={Parallel Selfverified Method for Solving Linear Systems},
    year={2006},
    pages={179-190},
    abstract={},
    doi={},
    ISSN={},
    month={},
    url = {}
    }
  • [DOI] F. Dapper, E. Prestes, M. A. P. Idiart, and L. P. Nedel, “Simulating Pedestrian Behavior with Potential Fields,” in Advances in Computer Graphics: 24th Computer Graphics International Conference, CGI 2006, Hangzhou, China, June 26-28, 2006. Proceedings, T. Nishita, Q. Peng, and H. Seidel, Eds., Berlin, Heidelberg: Springer Berlin Heidelberg, 2006, p. 324–335.
    [Bibtex]
    @Inbook{Dapper2006,
    author="Dapper, F{\'a}bio and Prestes, Edson and Idiart, Marco A. P. and Nedel, Luciana P.",
    editor="Nishita, Tomoyuki and Peng, Qunsheng and Seidel, Hans-Peter",
    title="Simulating Pedestrian Behavior with Potential Fields",
    bookTitle="Advances in Computer Graphics: 24th Computer Graphics International Conference, CGI 2006, Hangzhou, China, June 26-28, 2006. Proceedings",
    year="2006",
    publisher="Springer Berlin Heidelberg",
    address="Berlin, Heidelberg",
    pages="324--335",
    abstract="The main challenges of realistically simulating the displacement of humanoid pedestrians are twofold: they need to behave realistically and they should accomplish their tasks. Here we present a field potential formalism, based upon boundary value problems, that allows a group of synthetic actors to move negotiating space, avoiding collisions, attaining goals in prescribed sequences while at same time producing very individual paths. The individuality of each pedestrian can be set by changing its inner field parameters. This leads to a broad range of possible behaviors without jeopardizing its task performance. Simulate situations as behavior in corridors, collision avoidance and competition for a goal are presented and discussed.",
    isbn="978-3-540-35639-4",
    doi="10.1007/11784203_28",
    url="https://doi.org/10.1007/11784203_28"
    }
  • [DOI] G. Faria, E. Prestes, M. A. P. Idiart, and R. A. F. Romero, “Multi Robot System based on Boundary Value Problems,” in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 2065-2069.
    [Bibtex]
    @INPROCEEDINGS{FARIA20062,
    author={G. Faria and E. Prestes and M. A. P. Idiart and R. A. F. Romero},
    booktitle={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Multi Robot System based on Boundary Value Problems},
    year={2006},
    pages={2065-2069},
    abstract={In this paper, we introduce a modification in the potential field method based on boundary value problems to control multiple robots. In this new method, that we call locally oriented potential field (LOPF), the robots share a single map, but the field is adjusted locally for each robot using a bias vector. We show that the LOPF method is very appropriated to control robot soccer teams, in which each robot needs to adapt independently to the environment while aiming to perform the same task. Simulation results are presented to illustrate the richness of behaviors allowed by the technique},
    keywords={boundary-value problems;mobile robots;multi-robot systems;boundary value problems;locally oriented potential field;multi-robot system;multiple robots;potential field method;robot soccer teams;Boundary value problems;Centralized control;Costs;Distributed control;Intelligent robots;Path planning;Robot control;Robot kinematics;Testing},
    doi={10.1109/IROS.2006.282481},
    ISSN={2153-0858},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/4058686/}
    }
  • [DOI] G. Faria, R. A. F. Romero, and E. Prestes, “Integrating Planning and a Rule-Based System for Controlling a Robot Soccer Team,” in 2006 Ninth Brazilian Symposium on Neural Networks (SBRN’06), 2006, pp. 102-107.
    [Bibtex]
    @INPROCEEDINGS{FARIA20061,
    author={G. Faria and R. A. F. Romero and E. Prestes},
    booktitle={2006 Ninth Brazilian Symposium on Neural Networks (SBRN'06)},
    title={Integrating Planning and a Rule-Based System for Controlling a Robot Soccer Team},
    year={2006},
    pages={102-107},
    abstract={There are many potential field techniques to control multiple robots. Among them are Arkin's Potential Field, Harmonic Potential Field and other ones based on the solution of the Boundary Value Problem (BVP). Most of them have been applied to control just one robot. In this paper, a modification in a technique of Potential Field based on the solution of BVP is proposed for controlling multiple robots. This modification is called Locally Oriented Potential Field (LOPF) and it overcomes the drawback of BVP based techniques when they are applied for controlling multi robots. Besides, a rule based system has been proposed to characterize the functionality of each robot for realizing an specific task. This is necessary for that the behavior of the equip members not be competitive but collaborative. It will be shown that LOPF is very appropriated to control robot soccer teams, in which each robot has the necessity of adapting its behavior during a game. Furthermore, some experiment results are presented to show the efficiency of the proposed technique.},
    keywords={Boundary value problems;Collaboration;Control systems;Impedance;Knowledge based systems;Navigation;Path planning;Robot control;Robot sensing systems;Trajectory},
    doi={10.1109/SBRN.2006.23},
    ISSN={1522-4899},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/4026818/}
    }
  • G. FARIA, R. A. F. ROMERO, and E. P. SILVA JÚNIOR, “Controlling Multiple Robots Through Locally Oriented Potential Fields,” in IFAC Workshop on Multivehicle Systems, 2006.
    [Bibtex]
    @INPROCEEDINGS{FARIA20060,
    author={ FARIA, Gedson and ROMERO, Roseli Ap. Francelin and SILVA JÚNIOR, E. P.},
    booktitle={IFAC Workshop on Multivehicle Systems},
    title={Controlling Multiple Robots Through Locally Oriented Potential Fields},
    year={2006},
    pages={},
    abstract={},
    doi={},
    ISSN={},
    month={},
    url = {}
    }

2004

  • [DOI] M. Lüderitz Kolberg, C. Amaral Hölbig, G. Bohlender, and D. Moraes Claudio, “New Accurate Expressions in C-XSC,” PAMM, vol. 4, iss. 1, p. 592–593, 2004.
    [Bibtex]
    @article {KOLBERG2004,
    author = {Lüderitz Kolberg, Mariana and Amaral Hölbig, Carlos and Bohlender, Gerd and Moraes Claudio, Dalcidio},
    title = {New Accurate Expressions in C-XSC},
    journal = {PAMM},
    volume = {4},
    number = {1},
    publisher = {WILEY-VCH Verlag},
    issn = {1617-7061},
    doi = {10.1002/pamm.200410277},
    pages = {592--593},
    year = {2004},
    abstract = {C-XSC is a programming library for Extended Scientific Computing which supports many data types with high accuracy. However, it does not provide the accurate expressions which are already available in the older language PASCAL-XSC. These expressions have to be replaced by long loops that are more difficult to understand. Therefore, we studied possibilities how these accurate expressions could be implemented in C-XSC. In this paper we present possibilities like operator overloading with special result types avoiding rounding errors, and a small pre-processor which converts accurate expressions to function calls. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)},
    }
  • [DOI] E. Prestes e Silva, M. A. P. Idiart, M. Trevisan, and P. M. Engel, “Autonomous Learning Architecture for Environmental Mapping,” Journal of Intelligent and Robotic Systems, vol. 39, iss. 3, p. 243–263, 2004.
    [Bibtex]
    @Article{PresteseSilva2004,
    author="Prestes e Silva, Edson and Idiart, Marco A. P. and Trevisan, Marcelo and Engel, Paulo M.",
    title="Autonomous Learning Architecture for Environmental Mapping",
    journal="Journal of Intelligent and Robotic Systems",
    year="2004",
    month="Mar",
    day="01",
    volume="39",
    number="3",
    pages="243--263",
    abstract="Here we propose an architecture for an autonomous mobile agent that explores while mapping a two-dimensional environment. The map is a discretized model for the localization of obstacles, on top of which a harmonic potential field is computed. The potential field serves as a fundamental link between the modeled (discrete) space and the real (continuous) space where the agent operates. It indicates safe paths towards non-explored regions. Harmonic functions were originally used as global path planners in mobile robotics. In this paper, we extend its functionality to environment exploration. We demonstrate our idea through experimental results obtained using a Nomad 200 robot platform.",
    issn="1573-0409",
    doi="10.1023/B:JINT.0000021023.56384.55",
    url="https://doi.org/10.1023/B:JINT.0000021023.56384.55"
    }
  • [DOI] E. Prestes, A. P. Ferrugem, M. A. P. Idiart, and D. A. C. Barone, “A Perceptual User Interface Using Mean Shift,” in Advances in Artificial Intelligence – IBERAMIA 2004: 9th Ibero-American Conference on AI, Puebla, Mexico, November 22-26, 2004. Proceedings, C. Lemaître, C. A. Reyes, and J. A. González, Eds., Berlin, Heidelberg: Springer Berlin Heidelberg, 2004, p. 590–599.
    [Bibtex]
    @Inbook{PRESTES2004,
    author="Prestes, Edson and Ferrugem, Anderson P. and Idiart, Marco A. P. and Barone, Dante A. C.",
    editor="Lema{\^i}tre, Christian and Reyes, Carlos A. and Gonz{\'a}lez, Jes{\'u}s A.",
    title="A Perceptual User Interface Using Mean Shift",
    bookTitle="Advances in Artificial Intelligence -- IBERAMIA 2004: 9th Ibero-American Conference on AI, Puebla, Mexico, November 22-26, 2004. Proceedings",
    year="2004",
    publisher="Springer Berlin Heidelberg",
    address="Berlin, Heidelberg",
    pages="590--599",
    abstract="This work describes a perceptual user interface based on the Mean Shift algorithm to control mouse events by gestures using a generic usb camera. To demonstrate the usefulness of our work, we present two preliminaries experiments that are controlled by the mouth. The first experiment corresponds to a specific application in charge of controlling a game called pitfall. The second one is a generic experiment that evaluates the precision and robustness of the interface. These preliminaries results show that potentiality and applicability of our study to disable people.",
    isbn="978-3-540-30498-2",
    doi="10.1007/978-3-540-30498-2_59",
    url="https://doi.org/10.1007/978-3-540-30498-2_59"
    }
  • [DOI] G. Faria, R. A. F. Romero, E. Prestes, and M. A. P. Idiart, “Comparing harmonic functions and potential fields in the trajectory control of mobile robots,” in IEEE Conference on Robotics, Automation and Mechatronics, 2004, p. 762-767 vol.2.
    [Bibtex]
    @INPROCEEDINGS{FARIA2004,
    author={G. Faria and R. A. F. Romero and E. Prestes and M. A. P. Idiart},
    booktitle={IEEE Conference on Robotics, Automation and Mechatronics},
    title={Comparing harmonic functions and potential fields in the trajectory control of mobile robots},
    year={2004},
    volume={2},
    pages={762-767 vol.2},
    abstract={Potential field is a reactive method that has been used for trajectory control of mobile robots. In this method the robot behaves like a particle moving under the influence of an artificial potential produced by the target and the obstacles. This method has lower computational cost than others that utilize maps as a world model. However, one problem or this method is that it can generate regions of local minima. In these regions the driving force vanishes due to specific obstacle and goal configurations and the robot gets trapped. The use of harmonic functions for the potential calculation can solve this problem. In the harmonic function method the environment is represented by a grid, in which cells with an obstacle have their potential value set to 1 whereas cells that contain the target have their potential value set to 0. A relaxation algorithm is then employed to calculate the harmonic potential among the obstacles and the target. These two techniques have been applied in robot soccer environment to develop game strategies. Results obtained show that both techniques present better results when compared to the standard strategy or the FIRA Simulator. Further, a comparison of these techniques is presented for showing the advantages and disadvantages existing in each one of them.},
    keywords={mobile robots;path planning;artificial potential;game strategies;goal configurations;harmonic functions;mobile robots;obstacle configurations;potential fields;relaxation algorithm;trajectory control;Artificial intelligence;Costs;Educational robots;Intelligent robots;Mobile robots;Navigation;Path planning;Performance evaluation;Robot control;Trajectory},
    doi={10.1109/RAMECH.2004.1438014},
    month={Dec},
    url = {http://ieeexplore.ieee.org/document/1438014/}
    }
  • M. TREVISAN, M. A. P. IDIART, and E. P. e Silva, “Trajectory learning with a vector neural network,” in 8th Brazilian Symposium on Neural Networks, 2004, pp. 3633-3639.
    [Bibtex]
    @INPROCEEDINGS{TREVISAN,
    author={TREVISAN, M. and IDIART, Marco A P and E. P. e Silva},
    booktitle={8th Brazilian Symposium on Neural Networks},
    title={Trajectory learning with a vector neural network},
    year={2004},
    pages={3633-3639},
    }
  • A. SCHNEIDER, E. P. e Silva, and D. A. C. Barone, “Aprendizagem Evolucionária: uma abordagem para robótica móvel,” in 8th Brazilian Symposium on Neural Networks, 2004.
    [Bibtex]
    @INPROCEEDINGS{SCHNEIDER20040,
    author={SCHNEIDER, A. and E. P. e Silva and Barone, Dante A. C.},
    booktitle={8th Brazilian Symposium on Neural Networks},
    title={Aprendizagem Evolucionária: uma abordagem para robótica móvel},
    year={2004},
    pages={},
    }
  • A. SCHNEIDER, E. P. e Silva, and D. A. C. Barone, “Proposta de Aprendizagem Evolucionária para Robôs Móveis,” in Encontro Nacional de Robótica Inteligente, 2004.
    [Bibtex]
    @INPROCEEDINGS{SCHNEIDER20041,
    author={SCHNEIDER, A. and E. P. e Silva and Barone, Dante A. C.},
    booktitle={Encontro Nacional de Robótica Inteligente},
    title={Proposta de Aprendizagem Evolucionária para Robôs Móveis},
    year={2004},
    pages={},
    }
  • M. KOLBERG, C. A. HOLBIG, G. BOHLENDER, and D. M. CLAUDIO, New Accurate Expressions in C-XSCGAMM- Gesellschaft fur Angewandte MAthematik und Mechanik, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF6,
    title={ New Accurate Expressions in C-XSC},
    author={KOLBERG, M. and HOLBIG, Carlos Amaral and BOHLENDER, Gerd and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={218-218},
    publisher={ GAMM- Gesellschaft fur Angewandte MAthematik und Mechanik}
    }
  • C. A. HOLBIG, M. KOLBERG, B. F. K. ALCALDE, P. S. MORANDI JR., T. A. DIVERIO, and D. M. CLAUDIO, Solving Linear Systems with High Accuracy on Cluster ComputersGAMM- Gesellschaft fur Angewandte Mathematik und Mechanik, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF7,
    title={ Solving Linear Systems with High Accuracy on Cluster Computers},
    author={ HOLBIG, Carlos Amaral and KOLBERG, M. and ALCALDE, B. F. K. and MORANDI JR., P. S. and DIVERIO, Tiarajú Asmuz and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={259-259},
    publisher={ GAMM- Gesellschaft fur Angewandte Mathematik und Mechanik}
    }
  • C. A. KOLBERG M.and HOLBIG, G. BOHLENDER, and D. M. CLAUDIO, Accurate Expressions in C-XSC: a new FormatEleventh International Congress on Computational and Applied Mathematics, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF8,
    title={ Accurate Expressions in C-XSC: a new Format},
    author={KOLBERG, M.and HOLBIG, Carlos Amaral and BOHLENDER, Gerd and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={},
    publisher={ Eleventh International Congress on Computational and Applied Mathematics}
    }
  • C. A. HOLBIG, M. KOLBERG, B. F. K. ALCALDE, P. S. MORANDI JR., T. A. DIVERIO, and D. M. CLAUDIO, Eleventh International Congress on Computational and Applied Mathematics, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF9,
    title={ },
    author={HOLBIG, Carlos Amaral and KOLBERG, M. and ALCALDE, B. F. K. and MORANDI JR., P. S. and DIVERIO, Tiarajú Asmuz and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={},
    publisher={Eleventh International Congress on Computational and Applied Mathematics}
    }
  • C. A. HOLBIG, M. KOLBERG, P. S. MORANDI JR., B. F. K. ALCALDE, T. A. DIVERIO, and D. M. CLAUDIO, Linear Systems: Solvers with High Accuracy on Cluster ComputersModern Computational Methods in Applied Mathematics, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF10,
    title={ Linear Systems: Solvers with High Accuracy on Cluster Computers},
    author={HOLBIG, Carlos Amaral and KOLBERG, M. and MORANDI JR., P. S. and ALCALDE, B. F. K. and DIVERIO, Tiarajú Asmuz and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={20-20},
    publisher={ Modern Computational Methods in Applied Mathematics}
    }
  • M. KOLBERG, G. BOHLENDER, and D. M. CLAUDIO, Modifications to Expression Evaluation in C-XSCSCAN- 11th GAMM – IMACS International Symposium on Scientific Computing, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF11,
    title={ Modifications to Expression Evaluation in C-XSC},
    author={ KOLBERG, M. and BOHLENDER, Gerd and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={},
    publisher={ SCAN- 11th GAMM - IMACS International Symposium on Scientific Computing}
    }
  • M. KOLBERG, C. A. HOLBIG, and D. M. CLAUDIO, Redefining Accurate Expressions in C-XSCMCM 2004 – Modern Computational Methods in Applied Mathematics, 2004.
    [Bibtex]
    @misc{KOLBERGRESCONF12,
    title={ Redefining Accurate Expressions in C-XSC},
    author={KOLBERG, M. and HOLBIG, Carlos Amaral and CLAUDIO, Dalcídio Moraes},
    year={2004},
    pages={26},
    publisher={ MCM 2004 - Modern Computational Methods in Applied Mathematics}
    }

2003

  • [DOI] E. P. e Silva, M. Trevisan, M. A. P. Idiart, and P. M. Engel, “BVP-exploration: further improvements,” in Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2003, p. 3239-3244 vol.3.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2003,
    author={E. P. e Silva and M. Trevisan and M. A. P. Idiart and P. M. Engel},
    booktitle={Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)},
    title={BVP-exploration: further improvements},
    year={2003},
    volume={4},
    pages={3239-3244 vol.3},
    abstract={We propose some techniques to improve the exploration method based on BVP and demonstrate that, at least, for exploration in two dimensional space, we can reduce enormously the computation cost of the harmonic function method for exploration without losing the important properties of the method. Switching between local and global potential calculation and using an adaptive activation window result in a computationally efficient and refined mapping process.},
    keywords={boundary-value problems;harmonic analysis;mobile robots;path planning;BVP;adaptive activation window;boundary value problems;computation cost;exploration method;global potential calculation;harmonic function method;learning map;local potential calculation;mapping process;mobile robots;switching;two-dimensional space;Boundary conditions;Computational efficiency;Data mining;Navigation;Path planning;Robots;Sensor phenomena and characterization;Sonar;Space exploration;Switches},
    doi={10.1109/IROS.2003.1249655},
    month={Oct},
    url = {http://ieeexplore.ieee.org/document/1249655/}
    }
  • E. P. e Silva, A. P. Ferrugem, and D. A. C. Barone, “Positioning of a Robotic Arm using Genetic Algorithms,” in Simpósio Brasileiro de Automação Inteligente, 2003, pp. 367-372.
    [Bibtex]
    @INPROCEEDINGS{PRESTES20030,
    author={E. P. e Silva and A. P. Ferrugem and Barone, Dante A. C.},
    booktitle={Simpósio Brasileiro de Automação Inteligente},
    title={Positioning of a Robotic Arm using Genetic Algorithms},
    year={2003},
    pages={367-372},
    }

2002

  • [DOI] E. P. e Silva, P. M. Engel, M. Trevisan, and M. A. P. Idiart, “Exploration method using harmonic functions,” Robotics and Autonomous Systems, vol. 40, iss. 1, pp. 25-42, 2002.
    [Bibtex]
    @article{PRESTESESILVA200225,
    title = "Exploration method using harmonic functions",
    journal = "Robotics and Autonomous Systems",
    volume = "40",
    number = "1",
    pages = "25 - 42",
    year = "2002",
    note = "",
    issn = "0921-8890",
    doi = "http://dx.doi.org/10.1016/S0921-8890(02)00209-9",
    author = "Edson Prestes e Silva and Paulo M. Engel and Marcelo Trevisan and Marco A.P. Idiart",
    abstract = "Harmonic functions provide optimal potential maps for robot navigation in a previously explored static environment. Here we investigate the performance of an algorithm for exploration based on partial updates of a harmonic potential in an occupancy grid. We consider that while the robot moves it carries along an activation window whose size is of the order of the sensor’s range. The activation window recruits grid points to participate in the potential calculation. By using simulations and experiments with the Nomad 200 robot we investigate the algorithm performance in respect to parameters such as the frequency of updates and the numerical method used to calculate the harmonic potential."
    }
  • [DOI] E. Prestes, M. A. P. Idiart, P. M. Engel, and M. Trevisan, “Oriented exploration in non-oriented sparse environments,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, p. 2353-2358 vol.3.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2002,
    author={E. Prestes and M. A. P. Idiart and P. M. Engel and M. Trevisan},
    booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title={Oriented exploration in non-oriented sparse environments},
    year={2002},
    volume={3},
    pages={2353-2358 vol.3},
    abstract={The use of relaxation methods for calculation of harmonic potentials has proved to be a powerful technique for path planning in a known environment and recently for exploration of unknown environments. In the latter case, the potential is calculated on partial versions of the map represented on an occupancy grid, and it indicates safe paths towards the unexplored regions. Here, we show that exploration based on potentials functions calculated from boundary value problems works fairly well in sparse environments provided that we no longer use harmonic potentials. We propose different families of potentials that improve the exploration process in this kind of environment, while keeping the important property of not having dynamical local minima.},
    keywords={boundary-value problems;mobile robots;path planning;relaxation theory;boundary value problems;exploration;exploratory navigation;harmonic potentials;mobile robots;path planning;relaxation methods;unknown environments;Algorithm design and analysis;Boundary value problems;Cost function;Humans;Mobile robots;Navigation;Orbital robotics;Path planning;Relaxation methods;Robot sensing systems},
    doi={10.1109/IRDS.2002.1041619},
    month={},
    url = {http://ieeexplore.ieee.org/document/1041619/}
    }
  • M. KOLBERG, D. BOCIAN, and D. M. CLAUDIO, Ferramenta para Avaliação Gráfica de Raízes de PolinômiosEncontro Regional de Matemática Computacional, 2002.
    [Bibtex]
    @misc{KOLBERGRESCONF13,
    title={ Ferramenta para Avaliação Gráfica de Raízes de Polinômios},
    author={KOLBERG, M. and BOCIAN, Daniel and CLAUDIO, Dalcídio Moraes},
    year={2002},
    pages={},
    publisher={ Encontro Regional de Matemática Computacional}
    }
  • M. KOLBERG, D. BOCIAN, C. L. MARANGON, and D. M. CLAUDIO, Validação da Ferramenta para Avaliação Gráfica de Raízes de PolinômiosXIII Salão de Iniciação Científica da UFRGS, 2002.
    [Bibtex]
    @misc{KOLBERGRESCONF14,
    title={ Validação da Ferramenta para Avaliação Gráfica de Raízes de Polinômios},
    author={KOLBERG, M. and BOCIAN, Daniel and MARANGON, Cintia Lazzarotto and CLAUDIO, Dalcídio Moraes},
    year={2002},
    pages={},
    publisher={ XIII Salão de Iniciação Científica da UFRGS}
    }
  • M. L. KOLBERG, C. L. FERNANDES, E. SCHROEDER, D. S. SANTOS, L. A. BASSO, and O. N. Souza, Explorando Genômica e Bioinformática para Descobrir Domínios Funcionais na Corismato Sintase de Mycobacterium tuberculosisXII Encontro de geneticistas do Rio Grande do Sul, 2002.
    [Bibtex]
    @misc{KOLBERGRESCONF15,
    title={ Explorando Genômica e Bioinformática para Descobrir Domínios Funcionais na Corismato Sintase de Mycobacterium tuberculosis},
    author={KOLBERG, M. L. and FERNANDES, C. L. and SCHROEDER, E. and SANTOS, D. S. and BASSO, L. A. and Souza, O. N.},
    year={2002},
    pages={},
    publisher={ XII Encontro de geneticistas do Rio Grande do Sul}
    }

2001

  • [DOI] E. Prestes, M. A. P. Idiart, P. M. Engel, and M. Trevisan, “Exploration technique using potential fields calculated from relaxation methods,” in Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2001, p. 2012-2017 vol.4.
    [Bibtex]
    @INPROCEEDINGS{PRESTES2001,
    author={E. Prestes and M. A. P. Idiart and P. M. Engel and M. Trevisan},
    booktitle={Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)},
    title={Exploration technique using potential fields calculated from relaxation methods},
    year={2001},
    volume={4},
    pages={2012-2017 vol.4},
    abstract={The use of relaxation methods for calculation of harmonic potentials has proved to be a powerful technique for path planning in a known environment. We show that this idea can be successfully extended to exploration of unknown environments. The potential is calculated in a partial version of the map, represented on an occupancy grid, and it indicates safe paths towards the unexplored regions. We demonstrate that a complete relaxation of the potential is not necessary to accomplish smooth performances. Furthermore, we discuss the effect of different relaxation methods in the calculation of harmonic potential},
    keywords={iterative methods;mobile robots;path planning;relaxation theory;exploration technique;harmonic potentials;occupancy grid;path planning;potential fields;relaxation methods;safe paths;unknown environments;Algorithm design and analysis;Data structures;Navigation;Orbital robotics;Path planning;Power system harmonics;Process planning;Relaxation methods;Robots;Space exploration},
    doi={10.1109/IROS.2001.976368},
    month={},
    url = {http://ieeexplore.ieee.org/document/976368/}
    }
  • M. Trevisan, M. A. P. Idiart, and E. P. e Silva Jr., “Storage of multiple navigation maps using neural networks,” in Anais do 5 Congresso Brasileiro de Redes Neurais, Rio de Janeiro, RJ, 2001, pp. 625-629.
    [Bibtex]
    @INPROCEEDINGS{trevisanidiartcbrn2001,
    AUTHOR = {Marcelo Trevisan and Marco A. P. Idiart and Edson Prestes e {Silva Jr.}},
    TITLE = {Storage of multiple navigation maps using neural networks},
    editor = {Silva, Alexandre P. A. da},
    BOOKTITLE = {Anais do 5 Congresso Brasileiro de Redes Neurais},
    pages = {625-629},
    address = {Rio de Janeiro, RJ},
    publisher = {CNRN},
    YEAR = {2001},
    abstract = {We present a way to store and to recall different environment navigation maps in a neural network. The model is built upon the idea that a navigation map can be written as the solution of the Laplace’s problem with suitable boundary conditions applied to obstacles and goals in the environment. The inherent compression of information coming from that allows us to have good storage performances with a reduced number of synaptic connections.}
    doi = {10.21528/CBRN2001-134}
    url = {http://abricom.org.br/eventos/cbrn_2001/5cbrn_134/}
    }
  • M. KOLBERG, D. M. CLAUDIO, and C. L. MARANGON, Resolução de Polinômios IntervalaresXXIV Congresso Nacional de Matemática Aplicada e Computacional, 2001.
    [Bibtex]
    @misc{KOLBERGRESCONF16,
    title={ Resolução de Polinômios Intervalares},
    author={KOLBERG, M. and CLAUDIO, Dalcídio Moraes and MARANGON, Cintia Lazzarotto},
    year={2001},
    pages={},
    publisher={ XXIV Congresso Nacional de Matemática Aplicada e Computacional}
    }
  • M. KOLBERG, C. L. MARANGON, D. M. CLAUDIO, and S. MENDES, Haskell e Prolog no Ensino de Estruturas AlgébricasXXIV Congresso Nacional de Matemática Aplicada e Computacional, 2001.
    [Bibtex]
    @misc{KOLBERGRESCONF17,
    title={ Haskell e Prolog no Ensino de Estruturas Algébricas},
    author={KOLBERG, M. and MARANGON, Cintia Lazzarotto and CLAUDIO, Dalcídio Moraes and MENDES, S.},
    year={2001},
    pages={},
    publisher={ XXIV Congresso Nacional de Matemática Aplicada e Computacional}
    }
  • M. KOLBERG, C. L. MARANGON, D. BOCIAN, and D. M. CLAUDIO, Validação da Ferramenta para Avaliação Gráfica de Raízes de PolinômiosII Salão de Iniciação Científica da PUCRS, 2001.
    [Bibtex]
    @misc{KOLBERGRESCONF18,
    title={ Validação da Ferramenta para Avaliação Gráfica de Raízes de Polinômios},
    author={KOLBERG, M. and MARANGON, Cintia Lazzarotto and BOCIAN, Daniel and CLAUDIO, Dalcídio Moraes},
    year={2001},
    pages={},
    publisher={ II Salão de Iniciação Científica da PUCRS}
    }

2000

  • M. KOLBERG, C. L. MARANGON, R. C. PRESTES, and D. M. CLAUDIO, Raizes de Polinômios com Coeficientes IntervalaresII Simpósio de Informática do Planalto Médio, 2000.
    [Bibtex]
    @misc{KOLBERGRESCONF19,
    title={ Raizes de Polinômios com Coeficientes Intervalares},
    author={KOLBERG, M. and MARANGON, Cintia Lazzarotto and PRESTES, R. C. and CLAUDIO, Dalcídio Moraes},
    year={2000},
    pages={},
    publisher={ II Simpósio de Informática do Planalto Médio}
    }
  • M. KOLBERG, C. L. MARANGON, S. MENDES, and D. M. CLAUDIO, Haskell e Prolog no ensino de Estruturas AlgébricasI Salão de Iniciação Científica da PUCRS, 2000.
    [Bibtex]
    @misc{KOLBERGRESCONF20,
    title={ Haskell e Prolog no ensino de Estruturas Algébricas},
    author={KOLBERG, M. and MARANGON, Cintia Lazzarotto and MENDES, S. and CLAUDIO, Dalcídio Moraes},
    year={2000},
    pages={},
    publisher={ I Salão de Iniciação Científica da PUCRS}
    }
  • M. KOLBERG, C. L. MARANGON, R. C. PRESTES, S. MENDES, and D. M. CLAUDIO, Haskell e Prolog no Ensino de Estruturas AlgébricasXII Salão de Iniciação científica da UFRGS, 2000.
    [Bibtex]
    @misc{KOLBERGRESCONF21,
    title={ Haskell e Prolog no Ensino de Estruturas Algébricas},
    author={KOLBERG, M. and MARANGON, Cintia Lazzarotto and PRESTES, R. C. and MENDES, S. and CLAUDIO, Dalcídio Moraes},
    year={2000},
    pages={},
    publisher={ XII Salão de Iniciação científica da UFRGS}
    }

1999

  • M. KOLBERG, C. L. MARANGON, and R. C. PRESTES, Raizes de Polinômios com Coeficientes IntervalaresFeira de Iniciação Científica da UFRGS, 1999.
    [Bibtex]
    @misc{KOLBERGRESCONF22,
    title={ Raizes de Polinômios com Coeficientes Intervalares},
    author={KOLBERG, M. and MARANGON, Cintia Lazzarotto and PRESTES, R. C.},
    year={1999},
    pages={},
    publisher={ Feira de Iniciação Científica da UFRGS}
    }
For older publications, check the Leaders CV.

For Dr. Edson Prestes, please click here; for Dra. Mariana Kolberg, please click here