Abstract
In this article, we describe the effort being carried out in the analysis, design and implementation of the control architecture for a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. The control architecture is based in a hierarchical structure organized linguistically permitting the real-time parallel execution of tasks. This, architecture is composed of three levels, Organization, Coordination and Functional, structured according to the Increasing Precision with Decreasing Intelligence Principle.

Abstract
We present an algorithm for optimal control problems producing a minimizing sequence of control processes which are solutions to the associated differential inclusion and that the limiting process satisfies necessary conditions of optimality of the Pontryagin type. Numerical experiments show a good robustness to control perturbations and a good precision near the optimal solution.

Abstract
This paper presents a dynamically configurable architecture for the control of autonomous mobile robots based on hierarchic structure whose three levels, organization, coordination and functional layer, are organized linguistically. The main contribution is the concept of dynamic reconfigurability where the notion of architecture coordinator plays a crucial role. The design of the functional layer establishes the primitives for dynamic configuration.

Abstract
Three classes of oceanographic addressing relevant distinct scientific and applied objectives in the Portuguese coastal waters are examined. Then, by assuming some mission organizations in the light of the current technological state-of-art, a set of functionalities required for an operational system are extracted. Finally, some requirements for the design and development of such a class of systems are discussed.

Abstract

Abstract