Abstract
This paper describes the implementation of a navigation algorithm for Autonomous Surface Vehicles (ASVs), that is composed by two stages: 1) spline curve follower and; 2) reactive collision avoidance, obeying to the International Regulations for Preventing Collisions at Sea (COLREGs). The spline curve follower determines path's parametric functions that the vehicle should follow, taking into account : 1) the initial and goal points on the fixed world frame and; 2) the final desired orientation for the ASV. The reactive collision avoidance substitutes the splines navigation in situations of potential collision with moving obstacles. To do this, the algorithm considers the relative velocity between the controlled ASV and the moving obstacle (other ASV). It also takes into account the escape trajectory that the controlled ASV is capable to perform at each instant. The algorithm was implemented under the Robotic Operating System (ROS) framework. An intuitive spline curve configuration tool, using the RVIZ's package. The paper presents results of the simulation of two ASVs, following predefined spline trajectories, and the reactive collision avoidance routine in a rendezvous situation. A reference for a video illustrating the navigation algorithm is also provided.

Abstract

Abstract
The European Project Semester at ISEP (EPS@ISEP) is a one semester project-based learning programme addressed to engineering students from diverse scientific backgrounds and nationalities. The students, organized in multicultural teams, are challenged to solve real world multidisciplinary problems, accounting for 30 ECTU. The EPS package, although focused on project development (20 ECTU), includes a series of complementary seminars aimed at fostering soft, project-related and engineering transversal skills (10 ECTU). This paper presents the study plan, resources, operation and results of the EPS@ISEP that was created in 2011 to apply the best engineering education practices and promote the internationalization of ISEP. The results show that the EPS@ISEP students acquire during one semester the scientific, technical and soft competences necessary to propose, design and implement a solution for a multidisciplinary problem.

Abstract
One line of research and development in robotics receiving increasing attention in recent years is the development of biologically inspired robots. The idea is to gain knowledge of biological beings and apply the knowledge thus acquired to implement the same methods of locomotion (or at least use the biological inspiration) on the machines we build. It is believed that this way it is possible to develop machines with capabilities similar to those of biological beings in terms of locomotion skills and energy efficiency. One way to better understand the functioning of these systems, without the need to develop prototypes with long and costly development, is to use simulation models. Given these ideas, this work concerns the study of the biomechanics of the spider crab, using the SimMechanics toolbox of Matlab/Simulink. This paper describes the anatomy and locomotion of the spider crab, its modeling and control and the locomotion simulation of a crab within the SimMechanics environment.

Abstract
This paper presents the development of a behavior-based AGV using fuzzy logic. A robot platform and a fuzzy logic controller (FLC) are developed for the embodiment of different behaviors. Experimental results are given to assess the performance of the AGV and to validate the proposed design schemes for its construction and control. © 2013, Springer Science+Business Media Dordrecht.

Abstract
The presented work allowed the creation of a quadruped robot model (with flexible body, its legs and its hip and knee joints) in the virtual simulation program Simmechanics (TM). The final objective is to use this simulation model to optimize quadruped robot locomotion. The model developed accepts different gaits by direct introduction of the angular positions of the knee and hip joints. Feet-ground interaction was also modelled using a theoretic model described in the literature.