Abstract
Many real-world robotic scenarios require performing task planning to decide courses of actions to be executed by (possibly heterogeneous) robots. A classical centralized planning approach has to find a solution inside a search space that contains every possible combination of robots and goals. This leads to inefficient solutions that do not scale well. Multi-Agent Planning (MAP) provides a new way to solve this kind of tasks efficiently. Previous works on MAP have proposed to factorize the problem to decrease the planning effort i.e. dividing the goals among the agents (robots). However, these techniques do not scale when the number of agents and goals grow. Also, in most real world scenarios with big maps, goals might not be reached by every robot so it has a computational cost associated. In this paper we propose a combination of robotics and planning techniques to alleviate and boost the computation of the goal assignment process. We use Actuation Maps (AMs). Given a map, AMs can determine the regions each agent can actuate on. Thus, specific information can be extracted to know which goals can be tackled by each agent, as well as cheaply estimating the cost of using each agent to achieve every goal. Experiments show that when information extracted from AMs is provided to a multi-agent planning algorithm, the goal assignment is significantly faster, speeding-up the planning process considerably. Experiments also show that this approach greatly outperforms classical centralized planning.

Abstract
Purpose In the vast majority of the individual robot installations, the robot arm is just one piece of a complex puzzle of components, such as grippers, jigs or external axis, that together compose an industrial robotic cell. The success of such installations is very dependent not only on the selection of such components but also on the layout and design of the final robotic cell, which are the main tasks of the system integrators. Consequently, successful robot installations are often empirical tasks owing to the high number of experimental combinations that could lead to exhaustive and time-consuming testing approaches. Design/methodology/approach A newly developed optimized technique to deal with automatic planning and design of robotic systems is proposed and tested in this paper. Findings The application of a genetic-based algorithm achieved optimal results in short time frames and improved the design of robotic work cells. Here, the authors show that a multi-layer optimization approach, which can be validated using a robotic tool, is able to help with the design of robotic systems. Originality/value To date, robotic solutions lack flexibility to cope with the demanding industrial environments. The results presented here formalize a new flexible and modular approach, which can provide optimal solutions throughout the different stages of design and execution control of any work cell.

Abstract
Nowadays, industrial robots are still commonly programmed using essentially off-line tools, such as is the case of structured languages or simulated environments. This is a very time-consuming process, which necessarily requires the presence of an experienced programmer with technical knowledge of the set-up to be used, as well as a concept and a complete definition of the details associated with the operations. Moreover, considering some industrial applications such as coating, painting, and polishing, which commonly require the presence of highly skilled shop floor operators, the translation of this human craftsmanship into robot language using the available programming tools is still a very difficult task. In this regard, this paper presents a programming by demonstration solution, that allows a skilled shop floor operator to directly teach the industrial robot. The proposed system is based on the 6D Mimic innovative solution, endowed with an IMU sensor as to enable the system to tolerate temporary occlusions of the 6D Marker. Results show that, in the event of an occlusion, a reliable and highly accurate pose estimation is achieved using the IMU data. Furthermore, the selected IMU was a low-cost model, to not severely increase the 6D Mimic cost, despite lowering the quality of the readings. Even in these conditions, the developed algorithm was able to produce high-quality estimations during short time occlusions.

Abstract
The transport of patients from the inpatient service to the operating room is a recurrent task in the hospital routine. This task is repetitive, non-ergonomic, time consuming, and requires the labor of patient transporters. In this paper is presented the design of a driverless wheelchair under development capable of providing an on-demand mobility service to hospitals. The proposed wheelchair can receive transportation requests directly from the hospital information management system, pick-up patients at their beds, navigate autonomously through different floors, avoid obstacles, communicate with elevators, and drop patients off at the designated destination.

Abstract
Localisation is a critical problem in ground mobile robots. For dead reckoning, odometry is usually used. A disadvantage of using it alone is unbounded error accumulation. So, odometry calibration is critical in reducing error propagation. This paper presents an analysis of the developments and advances of systematic methods for odometry calibration. Four steering geometries were analysed, namely differential drive, Ackerman, tricycle and omnidirectional. It highlights the advances made on this field and covers the methods since UMBmark was proposed. The points of analysis are the techniques and test paths used, errors considered in calibration, and experiments made to validate each method. It was obtained fifteen methods for differential drive, three for Ackerman, two for tricycle, and three for the omnidirectional steering geometry. A disparity was noted, compared with the real utilisation, between the number of published works addressing differential drive and tricycle/Ackerman. Still, odometry continues evolving since UMBmark was proposed.

Abstract
Optimal Input Design (OID) methodologies are developed to find a signal that could best estimate a set of parameters of a given model. Their application in constrained nonlinear systems, especially when the search space limits or the initial conditions are unknown, may present several difficulties due to the numerical instability related to the optimization processes. A good choice over the parameters possible ranges is a trade-off among numerical stability, search space size, and effectiveness, and it is hardly found. To deal with this problem, this paper proposes a series of changes in the Sub-Optimal Excitation Signal Generation and Optimal Parameter Estimation (SOESGOPE) methodology. First, the limits over the parameters are tightly adjusted according to their confidence. A recursive approach runs the optimization methodology, analyzes the solution's feasibility and marginal costs given by the Lagrange Multipliers, and selects a direction that could improve the system's response. This approach improves the convergence and the assertiveness of the estimation process. To validate this approach, some cases, including a parameters estimation of a mobile robot nonlinear system, are tested.