Abstract
This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.

Abstract
In this work a forest fire detection solution using small autonomous aerial vehicles is proposed. The FALCOS unmanned aerial vehicle developed for remote-monitoring purposes is described. This is a small size UAV with onboard vision processing and autonomous flight capabilities. A set of custom developed navigation sensors was developed for the vehicle. Fire detection is performed through the use of low cost digital cameras and near-infrared sensors. Test results for navigation and ignition detection in real scenario are presented.

Abstract
The objective of this paper is to present the evolution and the state-of-the-art in the area of legged locomotion systems. In a first phase different possibilities for implementing mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase a historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones of technological and scientific progress. After this historical timeline, some of the present-day systems are examined and their performance is analyzed. In a third phase the major areas of research and development that are presently being followed in the construction of legged robots are pointed out. Finally, some still unsolved problems that remain defying robotics research, are also addressed.

Abstract
This paper studies the adoption of periodic gaits of quadruped animals by multilegged artificial locomotion systems. The purpose is to determine the gait to adopt at different velocities, under distinct robot and locomotion conditions, based on two performance measures. A set of experiments reveals the influence of the gait and the body and ground parameters upon the proposed indices. It is verified that the gait should be adapted to the robot forward velocity and to the conditions under which the robot is moving. The experiments also reveal that a gait that decreases the energy consumption generally implies an increase in the trajectory following errors.

Abstract

Abstract
The integration of different robot automation technologies, with the aim for reusing available production solutions, is a major obstacle for deployment of low-cost components into productive (high-performance) systems. Technologies demanding high processing power, like machine vision or voice recognition systems, are normally easy to program but require proprietary languages and platforms, which constitutes an important problem during communications and setup. Instead of the current need for trained specialist, in particular flexible manufacturing in SMEs call for solutions that are easy easy to use and (re)configure. One attempt in that direction is the service-oriented architecture (SOA) approach, which here is accomplished by the use of Universal Plug-and-Play (UPnP) technologies and confronted with real robot application demand represented by an experimental manufacturing cell. Contributions include the way of building software applications to program manufacturing cells whose building blocks are represented by UPnP devices. Such devices encapsulate both manufacturing equipment and interaction methods. The latter is exemplified by a speech recognition system, for which a tool for automatic generation of UPnP devices based on the information contained in speech recognition XML grammars is presented. Experiences form experiments confirms the desired efficiency and simplicity when setting up advanced manufacturing equipment. © 2007 IFAC.