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Pedro U. Lima is a Full Professor at Instituto Superior Técnico, University of Lisbon. He obtained his Habilitation degree in Electrical and Computer Engineering in 2005 from Instituto Superior Técnico, University of Lisbon, and the PhD in Electrical Engineering in 1994 from the Rensselaer Polytechnic Institute, Troy, NY, USA, Master's degree in Electrical and Computer Engineering in 1989 from Instituto Superior Técnico, University of Lisbon, and Licenciatura Degree (5 years) in Electrical and Computer Engineering in 1984 from Instituto Superior Técnico, University of Lisbon. He has published more than 200 articles in journals, book chapters, and scientific conferences. He is co-author of 2 books. He has received 7 award(s) and/or honors. He works in the area(s) of Engineering Sciences and Technologies with an emphasis on Computer Engineering, namely Robotics and Artificial Intelligence, with applications to multi-robot systems and networked robot systems. Pedro is currently the President of the institute for Systems and Robotics, an R&D unit part of the LARSyS research center, located at the Instituto Superior Técnico. He is also Trustee and Vice-President of the RoboCup Federation since 2023, and a member of the Lisbon ELLIS Unit (LUMLIS).
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Identification

Personal identification

Full name
Pedro Manuel Urbano de Almeida Lima

Citation names

  • Lima, Pedro U.
  • Lima, P.
  • Lima, Pedro

Author identifiers

Ciência ID
B213-2772-42DF
ORCID iD
0000-0002-8962-8050
Google Scholar ID
https://scholar.google.pt/citations?user=NUiEEYkAAAAJ
Scopus Author Id
35550404900

Knowledge fields

  • Engineering and Technology - Electrotechnical Engineering, Electronics and Informatics - Electrical and Electronic Engineering

Languages

Language Speaking Reading Writing Listening Peer-review
English Advanced (C1) Advanced (C1) Advanced (C1) Advanced (C1)
French Intermediate (B1) Intermediate (B1) Intermediate (B1) Intermediate (B1)
Spanish; Castilian Advanced (C1) Intermediate (B1) Beginner (A1) Advanced (C1)
Education
Degree Classification
2005
Concluded
 Engenharia Electrotécnica e de Computadores (Título de Agregado)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"MODELOS DE TAREFAS ROBÓTICAS BASEADOS EM SISTEMAS DE EVENTOS DISCRETOS E HÍBRIDOS" (THESIS/DISSERTATION)
 Unanimous approval
1994
Concluded
 PhD in Electrical Engineering (Doctor of Philosophy)
Rensselaer Polytechnic Institute, United States
"Intelligent Machines as Hierarchical Stochastic Automata" (THESIS/DISSERTATION)
 N/A
1989
Concluded
 Mestrado em Engenharia Electrotécnica e de Computadores (Mestrado)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"Detecção de Artefactos no Registo Electroencefalográfico" (THESIS/DISSERTATION)
 Muito Bom
1984
Concluded
 Licenciatura em Engenharia Electrotécnica e de Computadores (Licenciatura)
Universidade de Lisboa Instituto Superior Técnico, Portugal
"N/A" (THESIS/DISSERTATION)
 16
Affiliation

Science

Category
Host institution 		Employer
1991/09/01 - Current Researcher (Research) Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal

Teaching in Higher Education

Category
Host institution 		Employer
2019/06/06 - Current Full Professor (University Teacher) Universidade de Lisboa Instituto Superior Técnico, Portugal
Universidade de Lisboa Instituto Superior Técnico, Portugal
2006/05/01 - 2019/06/05 Associate Professor (University Teacher) Universidade de Lisboa Instituto Superior Técnico, Portugal
1994/11/01 - 2006/04/30 Assistant Professor (University Teacher) Universidade de Lisboa Instituto Superior Técnico, Portugal

Positions / Appointments

Category
Host institution 		Employer
2023/07/01 - Current Vice-President RoboCup Federation, United States
2023/01/01 - Current President Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
2023/01/01 - Current Member of the Board of Directors Laboratório de Robótica e Sistemas de Engenharia, Portugal
Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal
Projects

Contract

Designation Funders
2022/07/01 - 2026/06/30 euROBIN - European Robotics and AI Network
HORIZON-CL4-2021-DIGITAL-EMERGING-01 HORIZON-RIA No. 101070596
PI at ISR
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
 Horizon 2020
Ongoing
2022/01/01 - 2025/12/31 Center for Responsible AI
N/A
Research Fellow
Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
 Agência Nacional de Inovação SA
Ongoing
2021/03/01 - 2024/02/29 Equipas Homem-Robot sem precoordenação
PTDC/CCI-COM/7203/2020
10.54499/PTDC/CCI-COM/7203/2020
Other
Instituto de Engenharia de Sistemas e Computadores Investigação e Desenvolvimento em Lisboa, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Laboratório de Robótica e Sistemas de Engenharia, Portugal
Fundação para a Ciência e a Tecnologia
Ongoing
2020/01/01 - 2023/12/31 Laboratory of Robotics and Engineering Systems
UIDP/50009/2020
10.54499/UIDP/50009/2020
Laboratório de Robótica e Sistemas de Engenharia, Portugal

Universidade de Lisboa Instituto Superior Técnico, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Agência Regional para o Desenvolvimento da Investigação Tecnologia e Inovação, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2019/04/01 - 2022/09/30 DURABLE: Maintenance Drones and Robots to Enhance Renewable Energy Systems in the Atlantic Area
INTERREG ATLANTIC EAPA_986/2018
Principal investigator
Laboratório de Robótica e Sistemas de Engenharia, Portugal
 INTERREG ATLANTIC
Concluded
2018/02/01 - 2022/01/31 SciRoc: European Robotics League plus Smart Cities Robot Competitions
780086
Principal investigator
Laboratório de Robótica e Sistemas de Engenharia, Portugal
 European Commission Horizon 2020 Programme
Concluded
2019/01/01 - 2021/12/31 AI4EU: Advancing Europe Through Collaboration in AI
825619
Researcher
Laboratório de Robótica e Sistemas de Engenharia, Portugal
 European Commission Horizon 2020 Programme
Concluded
2019/01/01 - 2019/12/31 Laboratório de Robótica e Sistemas de Engenharia
UID/EEA/50009/2019
LA/P/0083/2020
10.54499/LA/P/0083/2020
Laboratório de Robótica e Sistemas de Engenharia, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Universidade de Lisboa Centro de Ciência e Tecnologia do Ambiente e do Mar, Portugal

Agência Regional para o Desenvolvimento da Investigação Tecnologia e Inovação, Portugal

Universidade do Porto Faculdade de Engenharia, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2014/08/01 - 2018/12/31 INSIDE: Sistemas Inteligentes de Robôs em Rede para Interacção Simbiótica com Crianças com Atrasos de Desenvolvimento
CMUP-ERI/HCI/0051/2013
Carnegie Mellon University, United States

Associação para a Inovação e Desenvolvimento da FCT, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Hospital Garcia de Orta EPE, Portugal

Instituto de Engenharia de Sistemas e Computadores Investigação e Desenvolvimento em Lisboa, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2014/08 - 2018/07 INSIDE: Intelligent Networked Robot Systems for Symbiotic Interaction with Children with Impaired Development
Provided by PTCRIS: 135829
Researcher
Fundação para a Ciência e a Tecnologia, I.P.
2016/02/01 - 2018/01/31 RockEU2: Robotics Coordination Action for Europe Two
688441
Principal investigator
Laboratório de Robótica e Sistemas de Engenharia, Portugal
 European Commission Horizon 2020 Programme
Concluded
2013/02 - 2016/01 Multi-Robot Cognitive Systems Operating in Hospitals
601033
Researcher
European Commission
2013/01 - 2016/01 Robot Competitions Kick Innovation in Cognitive Systems and Robotics
601012
Principal investigator
European Commission
2011/04/01 - 2014/09/30 Interacção homem-robô com robôs de campo usando realidade aumentada e mapeamento interactivo
PTDC/EIA-CCO/113257/2009
Universidade de Lisboa Instituto Superior Técnico, Portugal

Universidade da Madeira Madeira Interactive Technologies Institute, Portugal

Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2011/04 - 2014/09 Human-robot interaction with field robots using augmented reality and interactive mapping
113257
Provided by PTCRIS: 113257
Researcher
Fundação para a Ciência e a Tecnologia, I.P.
2010/09 - 2014/01 MAIS-S: Multiagent Intelligent Surveillance System
111031
Provided by PTCRIS: 111031
Researcher
Fundação para a Ciência e a Tecnologia, I.P.
2010/02/01 - 2013/05/31 Robótica Colectiva: Da Inspiração Biológica à Inspiração Institucionalista
PTDC/EEA-CRO/104658/2008
Universidade de Lisboa Instituto Superior Técnico, Portugal

Fundação Calouste Gulbenkian, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2010/02 - 2013/05 From Bio-Inspired to Institutional-Inspired Collective Robotics
104658
Provided by PTCRIS: 104658
Principal investigator
Fundação para a Ciência e a Tecnologia, I.P.
2010/01/01 - 2013/02/28 Controlo Coordenado do Movimento de Multi-Robots Baseado na Percepção
PTDC/EEA-CRO/100692/2008
Instituto de Engenharia de Sistemas e Computadores, Portugal

Instituto Politécnico do Porto Instituto Superior de Engenharia do Porto, Portugal

Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal

Universidade de Lisboa Instituto Superior Técnico, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2010/01 - 2013/02 Perception-Driven Coordinated Multi-Robot Motion Control
100692
Provided by PTCRIS: 100692
Principal investigator
Fundação para a Ciência e a Tecnologia, I.P.
2011/01/01 - 2012/12/31 Projecto Estratégico - LA 9 - 2011-2012
PEst-OE/EEI/LA0009/2011
Fundação da Faculdade de Ciências da Universidade de Lisboa, Portugal

Universidade de Lisboa Instituto Superior Técnico, Portugal

Universidade da Madeira Madeira Interactive Technologies Institute, Portugal

Associação do Instituto Superior Técnico para a Investigação e Desenvolvimento, Portugal

Instituto do Mar, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2007/10/01 - 2010/12/31 Planeamento Descentralizado Sob Incerteza para Sistemas Cooperativos
PTDC/EEA-ACR/73266/2006
Universidade de Lisboa Instituto Superior Técnico, Portugal

Universidade de Lisboa Instituto de Sistemas e Robótica, Portugal
Fundação para a Ciência e a Tecnologia
Concluded
2007/10 - 2010/12 Decentralized Planning Under Uncertainty for Cooperative Systems
Provided by PTCRIS: 73266
73266
Researcher
Fundação para a Ciência e a Tecnologia, I.P.
Outputs

Publications

Book
  1. Bernardino Alexandre; Francisco, Alexandre; Moita, A. S.; Oliveira, Arlindo; Casaca, Augusto,; Silva, Beatriz; Montemor, Fátima; et al. Ideias. Lisboa, Portugal: IST Press. 2021.
    Published
  2. Lima, P.U.; Nardi, D.; Kraetzschmar, G.K.; Bischoff, R.; Matteucci, M.. RoCKIn and the European robotics league: Building on RoboCup best practices to promote robot competitions in Europe. 2017.
    10.1007/978-3-319-68792-6_15
  3. Reis, L.P.; Moreira, A.P.; Lima, P.U.; Montano, L.; Muñoz-Martinez, V.. Robot 2015: Second Iberian Robotics conference: Advances in robotics, volume 1. 2016.
    10.1007/978-3-319-27146-0
  4. Messias, J.; Ventura, R.; Lima, P.; Sequeira, J.. ROS in the MOnarCH Project: A case study in networked robot systems. 2016.
    10.1007/978-3-319-26054-9_14
  5. Mateus, A.; Miraldo, P.; Lima, P.U.; Sequeira, J.. Human-aware navigation using external omnidirectional cameras. 2016.
    10.1007/978-3-319-27146-0_22
  6. Sanz, D.; Ahmad, A.; Lima, P.. Onboard robust person detection and tracking for domestic service robots. 2016.
    10.1007/978-3-319-27149-1_42
  7. Wasik, A.; Ventura, R.; Pereira, J.N.; Lima, P.U.; Martinoli, A.. Lidar-based relative position estimation and tracking for multi-robot systems. 2016.
    10.1007/978-3-319-27146-0_1
  8. Reis, L.P.; Moreira, A.P.; Lima, P.U.; Montano, L.; Muñoz-Martinez, V.. Robot 2015: second iberian robotics conference: Advances in robotics, volume 2. 2015.
    10.1007/978-3-319-27149-1
  9. Messias, J.; Acevedo, J.J.; Capitan, J.; Merino, L.; Ventura, R.; Lima, P.U.. A particle-filter approach for active perception in networked robot systems. 2015.
    10.1007/978-3-319-25554-5_45
  10. Reis, L.P.; Moreira, A.P.; Lima, P.U.; Montano, L.; Muñoz-Martinez, V.; Kaminka, G.; Rojas, R.. Preface. 2015.
  11. Pereira, J.N.; Martinoli, A.; Silva, P.; Lima, P.U.. Social-aware coordination of multi-robot systems based on institutions. 2014.
    10.1007/978-3-319-10807-0_19
  12. Reis, J.C.G.; Lima, P.U.; Garcia, J.. Efficient distributed communications for multi-robot systems. 2014.
    10.1007/978-3-662-44468-9_25
  13. Dias, A.; Almeida, J.; Dias, N.; Lima, P.; Silva, E.. Simulation environment for multi-robot cooperative 3D target perception. 2014.
  14. Santos, J; Lima, P; Baltes, J; Lagoudakis, MG; Naruse, T; Ghidary, SS. Multi-robot Cooperative Object Localization Decentralized Bayesian Approach. 2010.
  15. Palamara, PF; Ziparo, VA; Iocchi, L; Nardi, D; Lima, P; Matsubara, H; Weitzenfeld, A; Zhou, C. Teamwork Design Based on Petri Net Plans. 2009.
  16. Taiana, M; Gaspar, J; Nascimento, J; Bernardino, A; Lima, P; Visser, U; Ribeiro, F; Ohashi, T; Dellaert, F. 3D tracking by catadioptric vision based on particle filters. 2008.
  17. Pedro Lima. Robotic Soccer. {InTech. 2007.
    10.5772/49
  18. Silva, P; Lima, PU; Costa, FAE; Rocha, LM; Costa, E; Harvey, I; Coutinho, A. Institutional robotics. 2007.
  19. Lima, PU; Custodio, LM; Patnaik, S; Jain, LC; Tzafestas, SG; Reconi, G; Konar, A. Multi-robot systems. 2006.
  20. Melo, FA; Ribeiro, MI; Lima, P; Nardi, D; Riedmiller, M; Sammut, C; SantosVictor, J. Navigation controllability of a mobile robot population. 2005.
  21. van der Vecht, B; Lima, P; Nardi, D; Riedmiller, M; Sammut, C; SantosVictor, J. Formulation and implementation of relational behaviours for multi-robot cooperative systems. 2005.
  22. Neto, G; Costelha, H; Lima, P; Polani, D; Browning, B; Bonarini, A; Yoshida, K; et al. Topological navigation in configuration space applied to soccer robots. 2004.
  23. Lausen, H; Nielsen, J; Nielsen, M; Lima, P; Polani, D; Browning, B; Bonarini, A; et al. Model and behavior-based robotic goalkeeper. 2004.
  24. Garcia, AG; Lima, PU; Nunes, U; deAalmeida, AT; Bejczy, AK; Kosuge, K; Macgado, JAT. Robot formations motion dynamics based on scalar fields. 2003.
  25. Milutinovic, D; Lima, P; Athans, M; Nunes, U; deAalmeida, AT; Bejczy, AK; Kosuge, K; Macgado, JAT. Biologically inspired stochastic hybrid control of multi-robot systems. 2003.
  26. Damas, BD; Lima, PU; Custodio, LM; Kaminka, GA; Rojas, R. A modified potential fields method for robot navigation applied to dribbling in robotic soccer. 2003.
  27. Tabuada, P.; Pappas, G.J.; Lima, P.; Tabuada, P; Pappas, GJ; Lima, P; Tomlin, CJ; Greenstreet, MR. Composing abstractions of hybrid systems. 2002.
    10.1007/3-540-45873-5_34
  28. Tabuada, P; Lima, P; Kurzhanski, AB; Fradkov, AL. Position tracking for underactuated rigid bodies on SE(3). 2002.
  29. Portela, NV; Marques, C; Lima, PU; Groumpos, PP; Koussoulas, NT; Polycarpou, M. Optical track detection for mobile robots based on real time fuzzy decision-making. 2000.
  30. Ventura, R; Aparicio, P; Marques, C; Lima, P; Custodio, L; Veloso, M; Pagello, E; Kitano, H. ISocRob - Intelligent society of robots. 2000.
  31. van der Zwaan, S; Moreira, JAA; Lima, PU; Groumpos, PP; Koussoulas, NT; Polycarpou, M. Cooperative learning and planning for multiple robots. 2000.
  32. Lima, P; Ventura, R; Aparicio, P; Custodio, L; Veloso, M; Pagello, E; Kitano, H; et al. A functional architecture for a team of fully autonomous cooperative robots. 2000.
  33. Aparício, P.; Ventura, R.; Lima, P.; Pinto-Ferreira, C.; Aparicio, P; Ventura, R; Lima, P; et al. ISocRob — Team description. 1999.
    10.1007/3-540-48422-1_42
  34. Aparicio, P; Ferreira, J; Raposo, P; Lima, P; Salichs, MA; Halme, A. Barbaneta - A modular autonomous vehicle. 1998.
  35. Pedro U Lima; George N Saridis. Design of Intelligent Control Systems Based on Hierarchical Stochastic Automata. World Scientific Pub Co Pte Lt. 1996.
    10.1142/2742
  36. Lima, P.U.; Saridis, G.N.. Using stochastic grammars to learn robotic tasks. 1995.
    10.1007/3-540-60428-6
  37. LIMA, P; SARIDIS, G; Valavanis, KP; Lewis, FL; Barber, KS; Abdallah, C. PERFORMANCE IMPROVEMENT OF INTELLIGENT MACHINES THROUGH FEEDBACK. 1995.
Book chapter
  1. Pedro U. Lima. "Heterogeneous Teams of UGVs and UAVs for Multipurpose Operations". 2023.
    10.1007/978-3-031-15226-9_3
  2. Lima, Pedro U.; Paiva, Ana. "Autonomous and Intelligent Robots: Social, Legal and Ethical Issues". In Multidisciplinary Perspectives on Artificial Intelligence and the Law, 127-140. Springer International Publishing, 2023.
    10.1007/978-3-031-41264-6_7
  3. Lima, Pedro U.. "Robot Task Modeling". In Encyclopedia of Robotics, 1-12. Springer Berlin Heidelberg, 2020.
    10.1007/978-3-642-41610-1_9-1
  4. Garcia, J.A.; Lima, P.U.. "Improving human behavior using pomdps with gestures and speech recognition". 145-163. 2019.
    10.1007/978-3-319-97550-4_10
  5. Lima, P.U.; Martins, A.; Aníbal, A.S.; Carvalho, P.S.. "Lisbon robotics cluster: Vision and goals". 157-167. 2019.
    10.1007/978-3-030-12524-0_14
  6. Iocchi, Luca; Kraetzschmar, G.; Nardi, Daniele; Lima, Pedro U.; Miraldo, Pedro; Bastianelli, Emanuele; Capobianco, Roberto. "RoCKIn@Home: Domestic Robots Challenge". In RoCKIn - Benchmarking Through Robot Competitions. InTech, 2017.
    10.5772/intechopen.70015
  7. Lima, P; Custodio, L. "RoboCup 2004 overview". 1-17. 2005.
  8. Birk, A; Kenn, H; Kaminka, GA; Lima, PU; Rojas, R. "A rescue robot control architecture ensuring safe semi-autonomous operation". 254-262. 2003.
Conference paper
  1. Pedro Gomes; Ayala Botto, Miguel; Lima, Pedro. "Learning-based Model Predictive Control for an Autonomous Formula Student Racing Car". Paper presented in IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 2024.
  2. Mateus, Andre; Lima, Pedro U.; Miraldo, Pedro. "An observer cascade for velocity and multiple line estimation". Paper presented in 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, 2022.
    10.1109/icra46639.2022.9812292
  3. Bettencourt, Rui; Lima, Pedro U.. "Multimodal Navigation for Autonomous Service Robots". Paper presented in IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Santa Maria da Feira, 2021.
    Published • 10.1109/ICARSC52212.2021.9429771
  4. Urtasun, B.; López De Uralde, P.; Velar, K.; Gorostegui-Colinas, E.; Neelov, J.; Wright, S.; Studley, M.; et al. "Pulsed thermography digital motion stabilization for the unmanned vehicle inspection of solar farms and GFRP wind blades through UAVs and UGVs". 2021.
    10.1117/12.2585902
  5. Azevedo, C.; Lacerda, B.; Hawes, N.; Lima, P.. "Long-run multi-robot planning with uncertain task durations". 2020.
  6. Azevedo, C.; Lacerda, B.; Hawes, N.; Lima, P.. "Long-run multi-robot planning under uncertain action durations for persistent tasks". 2020.
    10.1109/IROS45743.2020.9340901
  7. Azevedo, Carlos; Lacerda, Bruno; Hawes, Nick; Lima, Pedro U.. "Long-Run Multi-Robot Planning under Uncertain Action Durations for Persistent Tasks". Paper presented in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
    10.1109/IROS45743.2020.9340901
  8. Azevedo, Carlos; Lacerda, Bruno; Hawes, Nick; Lima, Pedro U.. "Long-Run Multi-Robot Planning With Uncertain Task Durations". Paper presented in International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2020.
  9. Gonçalves, J.; Lima, P.. "Grasp Planning with Incomplete Knowledge about the Object to be Grasped". 2019.
    10.1109/ICARSC.2019.8733615
  10. Azevedo, C.; Lima, P.U.. "A GSPN Software Framework to Model and Analyze Robot Tasks". 2019.
    10.1109/ICARSC.2019.8733634
  11. Veiga, T.S.; Silva, M.; Ventura, R.; Lima, P.U.. "A hierarchical approach to active semantic mapping using probabilistic logic and information reward POMDPs". 2019.
  12. Tomic, S.; Martinoli, A.; Wasik, A.; Pecora, F.; Lima, P.U.; Saffiotti, A.. "Towards institutions for mixed human-robot societies". 2018.
  13. Wasik, A.; Martinoli, A.; Lima, P.U.. "A robust relative positioning system for multi-robot formations leveraging an extended GM-PHD filter". 2018.
    10.1109/MRS.2017.8250933
  14. Wasik, A.; Tomic, S.; Saffiotti, A.; Pecora, F.; Martinoli, A.; Lima, P.U.. "Towards Norm Realization in Institutions Mediating Human-Robot Societies". 2018.
    10.1109/IROS.2018.8594079
  15. Lima, P.U.. "A Probabilistic Approach to Benchmarking and Performance Evaluation of Robot Systems". 2018.
    10.1109/IROS.2018.8594345
  16. Figueiredo, R.; Avelino, J.; Dehban, A.; Bernardino, A.; Lima, P.; Aráujo, H.. "Efficient resource allocation for sparse multiple object tracking". 2017.
  17. Garcia, J.A.; Lima, P.U.; Veiga, T.. "Decision-theoretic planning under uncertainty for multimodal human-robot interaction". 2017.
    10.1109/ROMAN.2017.8172391
  18. Bonino, L.; Bresciani, F.; Piasini, G.; Flebus, C.; Lecat, J.-H.; Roose, S.; Pisani, M.; et al. "An interferometer for high-resolution optical surveillance from geostationary orbit". 2017.
    10.1117/12.2308170
  19. Dias, D.; Ventura, R.; Lima, P.; Martinoli, A.. "On-board vision-based 3D relative localization system for multiple quadrotors". 2016.
    10.1109/ICRA.2016.7487248
  20. Dias, D.; Lima, P.U.; Martinoli, A.. "Distributed formation control of quadrotors under limited sensor field of view". 2016.
  21. Wasik, A.; Pereira, J.N.; Ventura, R.; Lima, P.U.; Martinoli, A.. "Graph-based distributed control for adaptive multi-robot patrolling through local formation transformation". 2016.
    10.1109/IROS.2016.7759276
  22. Veiga, T.S.; Miraldo, P.; Ventura, R.; Lima, P.U.. "Efficient object search for mobile robots in dynamic environments: Semantic map as an input for the decision maker". 2016.
    10.1109/IROS.2016.7759426
  23. Farinha, A.; Lima, P.U.. "A Novel Underactuated Hand Suitable for Human-Oriented Domestic Environments". 2016.
    10.1109/ICARSC.2016.21
  24. Dias, A.; Almeida, J.; Lima, P.; Silva, E.. "Uncertainty based multi-robot cooperative triangulation". 2015.
    10.1007/978-3-319-18615-3_41
  25. Dias, T.; Miraldo, P.; Goncalves, N.; Lima, P.U.. "Augmented reality on robot navigation using non-central catadioptric cameras". 2015.
    10.1109/IROS.2015.7354080
  26. Dias, A.; Capitan, J.; Merino, L.; Almeida, J.; Lima, P.; Silva, E.. "Decentralized target tracking based on multi-robot cooperative triangulation". 2015.
    10.1109/ICRA.2015.7139676
  27. Oliveira, L.; Almeida, L.; Lima, P.. "Multi-hop routing within TDMA slots for teams of cooperating robots". 2015.
    10.1109/WFCS.2015.7160566
  28. Tabuada, P.; Alves, P.; Tavares, P.; Lima, P.. "A predictive algorithm for attitude stabilization and spin control of small satellites". 2015.
  29. Veiga, T.S.; Spaan, M.T.J.; Lima, P.U.. "Improving value function approximation in factored POMDPs by exploiting model structure". 2015.
  30. Pina, J.; Lima, P.. "A multiobjective optimisation system for a glass furnace". 2015.
  31. Messias, J.; Ventura, R.; Lima, P.; Sequeira, J.; Alvito, P.; Marques, C.; Carriço, P.. "A robotic platform for edutainment activities in a pediatric hospital". 2014.
    10.1109/ICARSC.2014.6849785
  32. Basiri, M.; Schill, F.; Floreano, D.; Lima, P.U.. "Audio-based localization for swarms of micro air vehicles". 2014.
    10.1109/ICRA.2014.6907551
  33. Veiga, T.S.; Spaan, M.T.J.; Lima, P.U.. "Point-based POMDP solving with factored value function approximation". 2014.
  34. Dwiputra, R.; Berghofer, J.; Ahmad, A.; Awaad, I.; Amigoni, F.; Bischoff, R.; Bonarini, A.; et al. "The RoCKIn@Work challenge". 2014.
  35. Schneider, S.; Hegger, F.; Ahmad, A.; Awaad, I.; Amigoni, F.; Berghofer, J.; Bischoff, R.; et al. "The RoCKIn@Home challenge". 2014.
  36. Witwicki, S.J.; Castillo, J.C.; Capitán, J.; Messias, J.V.; Reis, J.C.; Lima, P.U.; Melo, F.S.; Spaan, M.T.J.. "A testbed for autonomous robot surveillance". 2014.
  37. Basiri, Meysam; Schill, Felix; Floreano, Dario; Lima, Pedro. "Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems". Paper presented in Robotics: Science and Systems, Berlin, 2013.
    10.15607/rss.2013.ix.002
  38. Pereira, J.N.; Silva, P.; Lima, P.U.; Martinoli, A.. "An experimental study in wireless connectivity maintenance using up to 40 robots coordinated by an institutional robotics approach". 2013.
    10.1109/IROS.2013.6697090
  39. Messias, J.V.; Spaan, M.T.J.; Lima, P.U.. "GSMDPs for multi-robot sequential decision-making". 2013.
  40. Messias, J.V.; Spaan, M.T.J.; Lima, P.U.. "Multiagent POMDPs with asynchronous execution". 2013.
  41. Tarapore, D.; Christensen, A.L.; Lima, P.U.; Carneiro, J.. "Abnormality detection in multiagent systems inspired by the adaptive immune system". 2013.
  42. Fazenda, P.; Carreira, P.; Lima, P.. "Context-based reasoning in smart buildings". 2012.
  43. Lacerda, B.; Lima, P.U.. "Designing Petri net supervisors from LTL specifications". 2012.
  44. Lacerda, B.; Lima, P.U.. "Designing Petri net supervisors for multi-agent systems from LTL specifications". 2011.
  45. Lacerda, Bruno; Lima, Pedro U.. "Petri Nets as an Analysis Tool For Data Flow in Wireless Sensor Networks". Paper presented in Portuguese Conference on Wireless Sensor Networks (CNRS), 2011.
  46. Lacerda, Bruno; Lima, Pedro U.. "Petri Net Based Supervisory Control of a Social Robot with LTL Specifications". Paper presented in International Conference on Mobile Robots and Competitions, 2011.
  47. Palamara, P.F.; Nardi, D.; Ziparo, V.A.; Lima, P.; Iocchi, L.; Costelha, H.. "A robotic soccer passing task using Petri net plans". 2008.
  48. Costelha, H.; Lima, P.. "Modelling, analysis and execution of multi-robot tasks using Petri nets". 2008.
  49. Padgham, L.; Parkes, D.; André, E.; Lima, P.; Müller, J.; Parsons, S.. "Introduction". 2008.
  50. Lopes, N.P.; Lima, P.U.. "OpenSDK-An open-source implementation of OPEN-R". 2008.
  51. Damas, B.; Lima, P.. "Stochastic discrete event model of a multi-robot team playing an adversarial game". 2004.
  52. Frazão, J.; Lima, P.. "Agent-based software architecture for multi-robot teams". 2004.
  53. Lima, P.; Ribeiro, I.; Custódio, Luís; Santos-Victor, J.. "The RESCUE Project - Cooperative Navigation for Rescue Robots". Paper presented in International Workshop on Advances in Service Robotics, Bardolino, 2003.
    Published
  54. Tabuada, P.; Pappas, G.J.; Lima, P.. "Hybrid abstractions: A search and rescue case study". 2001.
  55. Tabuada, P.; Pappas, G.J.; Lima, P.. "Cyclic directed formations of multi-agent systems". 2001.
  56. Marques, S.; Clements, R.; Lima, P.. "Comparison of small satellite attitude determination methods". 2000.
  57. Oliveira, P.J.; Lima, P.U.; Sentieiro, J.J.; Bravo, R.S.; Galan, R.; Jimenez, A.. "An architecture for the Supervision of fuzzy controllers". 1990.
    10.1109/IROS.1990.262514
  58. Oliveira, Paulo; Lima, Pedro; Sentieiro, Joao. "Fuzzy supervision of direct controllers". 1990.
Conference poster
  1. Alcedo, Kevin; Lima, Pedro U.; Alami, Rachid. Corresponding author: Alcedo, Kevin. "Inferring Others' Beliefs in Social Robot Navigation Tasks with Perspective-Shifted World Models". Paper presented in ELLIS PhD and Postdoc Symposium (Lisboa), 2024.
Journal article
  1. Bettencourt, Rui; Lewis, John; Serra, Rodrigo; Basiri, Meysam; Vale, Alberto; Lima, Pedro U.. "GEERS: Georeferenced Enhanced EKF Using Point Cloud Registration and Segmentation". IEEE Robotics and Automation Letters (2024): 1-8. http://dx.doi.org/10.1109/lra.2024.3349828.
    Published • 10.1109/lra.2024.3349828
  2. Gabriel Costa; João Pinho; Miguel Ayala Botto; Pedro U. Lima. "Online learning of MPC for autonomous racing". Robotics and Autonomous Systems (2023): https://doi.org/10.1016/j.robot.2023.104469.
    10.1016/j.robot.2023.104469
  3. João Pinho; Gabriel Costa; Pedro U. Lima; Miguel Ayala Botto. "Learning-Based Model Predictive Control for Autonomous Racing". World Electric Vehicle Journal (2023): https://doi.org/10.3390/wevj14070163.
    10.3390/wevj14070163
  4. Jesús Morales; Isabel Castelo; Rodrigo Serra; Pedro U. Lima; Meysam Basiri. "Vision-Based Autonomous Following of a Moving Platform and Landing for an Unmanned Aerial Vehicle". Sensors (2023): https://doi.org/10.3390/s23020829.
    10.3390/s23020829
  5. Arlindo L. Oliveira; Domingos, Tiago; Figueiredo, Mário; Lima, Pedro U.. "DeepThought: An Architecture for Autonomous Self-motivated Systems.". arXiv 2311.08547 (2023): https://arxiv.org/abs/2311.08547.
    Published
  6. Lewis, John; Lima, Pedro U.; Basiri, Meysam; John Lewis; Pedro U. Lima; Meysam Basiri. "Collaborative 3D Scene Reconstruction in Large Outdoor Environments Using a Fleet of Mobile Ground Robots". Sensors 23 1 (2022): 375. http://dx.doi.org/10.3390/s23010375.
    10.3390/s23010375
  7. Meysam Basiri; João Pereira; Rui Bettencourt; Enrico Piazza; Emanuel Fernandes; Carlos Azevedo; Pedro Lima. "Functionalities, Benchmarking System and Performance Evaluation for a Domestic Service Robot: People Perception, People Following, and Pick and Placing". Applied Sciences 12 10 (2022): 4819-4819. https://doi.org/10.3390/app12104819.
    10.3390/app12104819
  8. Enrico Piazza; Pedro U. Lima; Matteo Matteucci. "Performance Models in Robotics With a Use Case on SLAM". IEEE Robotics and Automation Letters (2022): https://doi.org/10.1109/LRA.2022.3151162.
    10.1109/LRA.2022.3151162
  9. Andre Mateus; Omar Tahri; A. Pedro Aguiar; Pedro U. Lima; Pedro Miraldo. "On Incremental Structure from Motion Using Lines". IEEE Transactions on Robotics 38 1 (2022): 391-406. https://doi.org/10.1109/TRO.2021.3085487.
    10.1109/TRO.2021.3085487
  10. Carlos Azevedo; António Matos; Pedro U. Lima; Jose Avendaño. "Petri Net Toolbox for Multi-Robot Planning under Uncertainty". Applied Sciences (2021): https://doi.org/10.3390/app112412087.
    10.3390/app112412087
  11. Meysam Basiri; João Gonçalves; José Rosa; Rui Bettencourt; Alberto Vale; Pedro Lima. "A multipurpose mobile manipulator for autonomous firefighting and construction of outdoor structures". Field Robotics (2021): https://doi.org/10.55417/fr.2021004.
    10.55417/fr.2021004
  12. Basiri, M.; Gonçalves, J.; Rosa, J.; Vale, A.; Lima, P.. "An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns". SN Applied Sciences 3 5 (2021): http://www.scopus.com/inward/record.url?eid=2-s2.0-85104453043&partnerID=MN8TOARS.
    10.1007/s42452-021-04506-7
  13. Jose J. Acevedo; Joao Messias; Jesus Capitan; Rodrigo Ventura; Luis Merino; Pedro U. Lima. "A Dynamic Weighted Area Assignment Based on a Particle Filter for Active Cooperative Perception". IEEE Robotics and Automation Letters 5 2 (2020): 736-743. https://doi.org/10.1109/LRA.2020.2965876.
    10.1109/LRA.2020.2965876
  14. Pedro U. Lima; Carlos Azevedo; Emilia Brzozowska; João Cartucho; Tiago J. Dias; João Gonçalves; Mithun Kinarullathil; et al. "SocRob@Home". KI - Künstliche Intelligenz (2019): https://doi.org/10.1007/s13218-019-00618-w.
    10.1007/s13218-019-00618-w
  15. Bruno Lacerda; Pedro U. Lima. "Petri net based multi-robot task coordination from temporal logic specifications". Robotics and Autonomous Systems 122 (2019): 103289-103289. https://doi.org/10.1016/j.robot.2019.103289.
    10.1016/j.robot.2019.103289
  16. Basiri, Meysam; Piazza, Enrico; Matteucci, Matteo; Lima, Pedro. "Benchmarking Functionalities of Domestic Service Robots Through Scientific Competitions". KI - Künstliche Intelligenz 33 4 (2019): 357-367. http://dx.doi.org/10.1007/s13218-019-00619-9.
    Published • 10.1007/s13218-019-00619-9
  17. Alicja Wasik; Pedro U. Lima; Alcherio Martinoli. "A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter". Autonomous robots (2019):
    10.1007/s10514-019-09860-5
  18. Melo, Francisco S.; Sardinha, Alberto; Belo, David; Couto, Marta; Faria, Miguel; Farias, Anabela; Gambôa, Hugo; et al. "Project INSIDE: towards autonomous semi-unstructured human–robot social interaction in autism therapy". Artificial Intelligence in Medicine 96 (2019): 198-216. http://dx.doi.org/10.1016/j.artmed.2018.12.003.
    10.1016/j.artmed.2018.12.003
  19. Dias, J.; Lima, P.U.; Seneviratne, L.; Khatib, O.; Tadokoro, S.; Dario, P.. "Journal of Field Robotics special issue on MBZIRC 2017 Challenges in Autonomous Field Robotics". Journal of Field Robotics 36 1 (2019): 3-5. http://www.scopus.com/inward/record.url?eid=2-s2.0-85058034784&partnerID=MN8TOARS.
    10.1002/rob.21851
  20. Basiri, M.; Schill, F.; U.Lima, P.; Floreano, D.. "Localization of emergency acoustic sources by micro aerial vehicles". Journal of Field Robotics 35 2 (2018): 187-201. http://www.scopus.com/inward/record.url?eid=2-s2.0-85021374373&partnerID=MN8TOARS.
    10.1002/rob.21733
  21. Witwicki, S.; Castillo, J.C.; Messias, J.; Capitan, J.; Melo, F.S.; Lima, P.U.; Veloso, M.. "Autonomous Surveillance Robots: A Decision-Making Framework for Networked Muiltiagent Systems". IEEE Robotics and Automation Magazine 24 3 (2017): 52-64. http://www.scopus.com/inward/record.url?eid=2-s2.0-85029154602&partnerID=MN8TOARS.
    10.1109/MRA.2017.2662222
  22. Ahmad, A.; Lawless, G.; Lima, P.. "An Online Scalable Approach to Unified Multirobot Cooperative Localization and Object Tracking". IEEE Transactions on Robotics 33 5 (2017): 1184-1199. http://www.scopus.com/inward/record.url?eid=2-s2.0-85023163315&partnerID=MN8TOARS.
    10.1109/TRO.2017.2715342
  23. Fazenda, P.; Lima, P.; Carreira, P.. "Context-based thermodynamic modeling of buildings spaces". Energy and Buildings 124 (2016): 164-177. http://www.scopus.com/inward/record.url?eid=2-s2.0-84981725134&partnerID=MN8TOARS.
    10.1016/j.enbuild.2016.04.068
  24. Basiri, M.; Schill, F.; Lima, P.; Floreano, D.. "On-Board Relative Bearing Estimation for Teams of Drones Using Sound". IEEE Robotics and Automation Letters 1 2 (2016): 820-827. http://www.scopus.com/inward/record.url?eid=2-s2.0-85023774581&partnerID=MN8TOARS.
    10.1109/LRA.2016.2527833
  25. Dias, J.; Althoefer, K.; Lima, P.U.. "Robot Competitions: What Did We Learn? [Competitions]". IEEE Robotics and Automation Magazine 23 1 (2016): 16-18. http://www.scopus.com/inward/record.url?eid=2-s2.0-84963804971&partnerID=MN8TOARS.
    10.1109/MRA.2015.2511678
  26. Lima, Pedro. "Formation control driven by cooperative object tracking". Robotics and Autonomous Systems (2015):
    10.1016/j.robot.2014.08.018
  27. Amigoni, F.; Bastianelli, E.; Berghofer, J.; Bonarini, A.; Fontana, G.; Hochgeschwender, N.; Iocchi, L.; et al. "Competitions for Benchmarking: Task and Functionality Scoring Complete Performance Assessment". IEEE Robotics and Automation Magazine 22 3 (2015): 53-61. http://www.scopus.com/inward/record.url?eid=2-s2.0-84941898879&partnerID=MN8TOARS.
    10.1109/MRA.2015.2448871
  28. Silva, P.; Pereira, J.N.; Lima, P.U.. "Institutional Robotics: Institutions for Social Robots". International Journal of Social Robotics 7 5 (2015): 825-840. http://www.scopus.com/inward/record.url?eid=2-s2.0-84947066080&partnerID=MN8TOARS.
    10.1007/s12369-015-0300-4
  29. Tarapore, D.; Lima, P.U.; Carneiro, J.; Christensen, A.L.. "To err is robotic, to tolerate immunological: Fault detection in multirobot systems". Bioinspiration and Biomimetics 10 1 (2015): http://www.scopus.com/inward/record.url?eid=2-s2.0-84922470045&partnerID=MN8TOARS.
    10.1088/1748-3190/10/1/016014
  30. Spaan, M.T.J.; Veiga, T.S.; Lima, P.U.. "Decision-theoretic planning under uncertainty with information rewards for active cooperative perception". Autonomous Agents and Multi-Agent Systems 29 6 (2015): 1157-1185. http://www.scopus.com/inward/record.url?eid=2-s2.0-84942504056&partnerID=MN8TOARS.
    10.1007/s10458-014-9279-8
  31. Fazenda, P.; Veeramachaneni, K.; Lima, P.; O'Reilly, U.-M.. "Using reinforcement learning to optimize occupant comfort and energy usage in HVAC systems". Journal of Ambient Intelligence and Smart Environments 6 6 (2014): 675-690. http://www.scopus.com/inward/record.url?eid=2-s2.0-84914708038&partnerID=MN8TOARS.
    10.3233/AIS-140288
  32. Ahmad, A.; Xavier, J.; Santos-Victor, J.; Lima, P.. "3D to 2D bijection for spherical objects under equidistant fisheye projection". Computer Vision and Image Understanding 125 (2014): 172-183. http://www.scopus.com/inward/record.url?eid=2-s2.0-84901953520&partnerID=MN8TOARS.
    10.1016/j.cviu.2014.04.004
  33. Lacerda, B.; Lima, P.U.. "On the notion of uncontrollable marking in supervisory control of petri nets". IEEE Transactions on Automatic Control 59 11 (2014): 3069-3074. http://www.scopus.com/inward/record.url?eid=2-s2.0-84908403274&partnerID=MN8TOARS.
    10.1109/TAC.2014.2320801
  34. Pereira, J.N.; Silva, P.; Lima, P.U.; Martinoli, A.. "Formalization, implementation, and modeling of institutional controllers for distributed robotic systems". Artificial life 20 1 (2014): 127-141. http://www.scopus.com/inward/record.url?eid=2-s2.0-84930278677&partnerID=MN8TOARS.
    10.1162/ARTL_a_00100
  35. Lima, P.U.; Nardi, D.; Kraetzschmar, G.; Berghofer, J.; Matteucci, M.; Buchanan, G.. "RoCKIn innovation through robot competitions [Competitions]". IEEE Robotics and Automation Magazine 21 2 (2014): 8-12. http://www.scopus.com/inward/record.url?eid=2-s2.0-84902318229&partnerID=MN8TOARS.
    10.1109/MRA.2014.2314015
  36. Dias, A.; Almeida, J.; Silva, E.; Lima, P.. "Multi-robot cooperative stereo for outdoor scenarios". Proceedings of the 2013 13th International Conference on Autonomous Robot Systems, ROBOTICA 2013 (2013): http://www.scopus.com/inward/record.url?eid=2-s2.0-84890879120&partnerID=MN8TOARS.
    10.1109/Robotica.2013.6623531
  37. Troppan, A.; Guerreiro, E.; Celiberti, F.; Santos, G.; Ahmad, A.; Lima, P.U.. "Unknown-color spherical object detection and tracking". Proceedings of the 2013 13th International Conference on Autonomous Robot Systems, ROBOTICA 2013 (2013): http://www.scopus.com/inward/record.url?eid=2-s2.0-84890861660&partnerID=MN8TOARS.
    10.1109/Robotica.2013.6623533
  38. Ahmad, A.; Tipaldi, G.D.; Lima, P.; Burgard, W.. "Cooperative robot localization and target tracking based on least squares minimization". Proceedings - IEEE International Conference on Robotics and Automation (2013): 5696-5701. http://www.scopus.com/inward/record.url?eid=2-s2.0-84887280016&partnerID=MN8TOARS.
    10.1109/ICRA.2013.6631396
  39. Ahmad, A.; Nascimento, T.; Conceicao, A.G.S.; Moreira, A.P.; Lima, P.. "Perception-driven multi-robot formation control". Proceedings - IEEE International Conference on Robotics and Automation (2013): 1851-1856. http://www.scopus.com/inward/record.url?eid=2-s2.0-84887274451&partnerID=MN8TOARS.
    10.1109/ICRA.2013.6630821
  40. Lima, P.; Cortesao, R.. "IROS 2012 competitions [Competitions]". IEEE Robotics and Automation Magazine 20 1 (2013): 10-12. http://www.scopus.com/inward/record.url?eid=2-s2.0-84874837421&partnerID=MN8TOARS.
    10.1109/MRA.2012.2236232
  41. Garrido, S.; Moreno, L.; Gómez, J.V.; Lima, P.U.. "General path planning methodology for leader-follower robot formations". International Journal of Advanced Robotic Systems 10 (2013): http://www.scopus.com/inward/record.url?eid=2-s2.0-84876819314&partnerID=MN8TOARS.
    10.5772/53999
  42. Ahmad, A.; Lima, P.. "Multi-robot cooperative spherical-object tracking in 3D space based on particle filters". Robotics and Autonomous Systems 61 10 (2013): 1084-1093. http://www.scopus.com/inward/record.url?eid=2-s2.0-84883854898&partnerID=MN8TOARS.
    10.1016/j.robot.2012.12.008
  43. Tarapore, D.; Christensen, A.L.; Lima, P.U.; Carneiro, J.. "Environment classification in multiagent systems inspired by the adaptive immune system". Artificial Life 13: Proceedings of the 13th International Conference on the Simulation and Synthesis of Living Systems, ALIFE 2012 (2012): 275-282. http://www.scopus.com/inward/record.url?eid=2-s2.0-84874740415&partnerID=MN8TOARS.
  44. Costelha, H.; Lima, P.. "Robot task plan representation by Petri nets: Modelling, identification, analysis and execution". Autonomous Robots 33 4 (2012): 337-360. http://www.scopus.com/inward/record.url?eid=2-s2.0-84868375029&partnerID=MN8TOARS.
    10.1007/s10514-012-9288-x
  45. Tarapore, D.; Christensen, A.L.; Lima, P.U.; Carneiro, J.. "Clonal expansion without self-replicating entities". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 7597 LNCS (2012): 191-204. http://www.scopus.com/inward/record.url?eid=2-s2.0-84866397837&partnerID=MN8TOARS.
    10.1007/978-3-642-33757-4_15
  46. Milutinovic, D.; Lima, P.; Dejan Milutinovic; Pedro Lima. "Biological Cell Inspired Stochastic Models and Control". Microbiorobotics (2012): 145-161. http://www.scopus.com/inward/record.url?eid=2-s2.0-84882525389&partnerID=MN8TOARS.
    10.1016/B978-1-4557-7891-1.00006-2
  47. Ventura, R.; Lima, P.U.. "Search and rescue robots: The civil protection teams of the future". Proceedings - 3rd International Conference on Emerging Security Technologies, EST 2012 (2012): 12-19. http://www.scopus.com/inward/record.url?eid=2-s2.0-84869418991&partnerID=MN8TOARS.
    10.1109/EST.2012.40
  48. Basiri, Meysam; Schill, Felix; Lima, Pedro U.; Floreano, Dario; IEEE; Robotics Society of Japan; Basiri, M.; et al. "Robust Acoustic Source Localization of Emergency Signals from Micro Air Vehicles". 2012 Ieee/rsj International Conference on Intelligent Robots and Systems (Iros) (2012): 4737-4742. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000317042705050&KeyUID=WOS:000317042705050.
    10.1109/IROS.2012.6385608
  49. Messias, J.V.; Spaan, M.T.J.; Lima, P.U.. "Efficient offline communication policies for factored Multiagent POMDPs". Advances in Neural Information Processing Systems 24: 25th Annual Conference on Neural Information Processing Systems 2011, NIPS 2011 (2011): http://www.scopus.com/inward/record.url?eid=2-s2.0-84860636010&partnerID=MN8TOARS.
  50. Ziparo, V.A.; Iocchi, L.; Lima, P.U.; Nardi, D.; Palamara, P.F.. "Petri Net Plans: A framework for collaboration and coordination in multi-robot systems". Autonomous Agents and Multi-Agent Systems 23 3 (2011): 344-383. http://www.scopus.com/inward/record.url?eid=2-s2.0-79960993156&partnerID=MN8TOARS.
    10.1007/s10458-010-9146-1
  51. Messias, J.; Oliveira, P.; Lima, P.. "Online model identification for set-valued state estimators with discrete-time measurements". IFAC Proceedings Volumes (IFAC-PapersOnline) 18 PART 1 (2011): 4753-4758. http://www.scopus.com/inward/record.url?eid=2-s2.0-84866758088&partnerID=MN8TOARS.
    10.3182/20110828-6-IT-1002.01571
  52. Garrido, S.; Moreno, L.; Lima, P.U.. "Robot formation motion planning using Fast Marching". Robotics and Autonomous Systems 59 9 (2011): 675-683. http://www.scopus.com/inward/record.url?eid=2-s2.0-79960154402&partnerID=MN8TOARS.
    10.1016/j.robot.2011.05.011
  53. Lima, P.U.; Santos, P.; Oliveira, R.; Ahmad, A.; Santos, J.. "Cooperative localization based on visually shared objects". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 6556 LNAI (2011): 350-361. http://www.scopus.com/inward/record.url?eid=2-s2.0-79953241878&partnerID=MN8TOARS.
    10.1007/978-3-642-20217-9_30
  54. Lacerda, Bruno; Lima, Pedro U.; IEEE; Lacerda, B.; Lima, P.U.. "LTL-Based Decentralized Supervisory Control of Multi-Robot Tasks Modelled as Petri Nets". 2011 Ieee/rsj International Conference on Intelligent Robots and Systems (2011): 3081-3086. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000297477503066&KeyUID=WOS:000297477503066.
    10.1109/IROS.2011.6048460
  55. Taiana, M.; Santos, J.; Gaspar, J.; Nascimento, J.; Bernardino, A.; Lima, P.. "Tracking objects with generic calibrated sensors: An algorithm based on color and 3D shape features". Robotics and Autonomous Systems 58 6 (2010): 784-795. http://www.scopus.com/inward/record.url?eid=2-s2.0-77953130992&partnerID=MN8TOARS.
    10.1016/j.robot.2010.02.010
  56. Santos, J.; Lima, P.. "Multi-robot cooperative object localization: Decentralized Bayesian approach". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5949 LNAI (2010): 332-343. http://www.scopus.com/inward/record.url?eid=2-s2.0-77950987583&partnerID=MN8TOARS.
    10.1007/978-3-642-11876-0_29
  57. Pahliani, A; Spaan, MTJ; Lima, PU; Pahliani, A.; Spaan, M.T.J.; Lima, P.U.. "Fault-tolerant Probabilistic Sensor Fusion for Multi-Agent Systems". Ieee/rsj 2010 International Conference on Intelligent Robots and Systems (Iros 2010) (2010): 4812-4817. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000287672002074&KeyUID=WOS:000287672002074.
    10.1109/IROS.2010.5650337
  58. Spaan, MTJ; Veiga, TS; Lima, PU; Spaan, M.T.J.; Veiga, T.S.; Lima, P.U.. "Active Cooperative Perception in Network Robot Systems Using POMDPs". Ieee/rsj 2010 International Conference on Intelligent Robots and Systems (Iros 2010) (2010): 4800-4805. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000287672000137&KeyUID=WOS:000287672000137.
    10.1109/IROS.2010.5648856
  59. Barbosa, M.; Bernardino, A.; Figueira, D.; Gaspar, J.; Gonçalves, N.; Lima, P.U.; Moreno, P.; et al. "ISROBOTNET: A testbed for sensor and robot network systems". 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (2009): 2827-2833. http://www.scopus.com/inward/record.url?eid=2-s2.0-76249101048&partnerID=MN8TOARS.
    10.1109/IROS.2009.5354231
  60. Pahliani, A.; Spaan, M.T.J.; Lima, P.U.; Pahliani, A; Spaan, MTJ; Lima, PU. "Decision-theoretic robot guidance for active cooperative perception". 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (2009): 4837-4842. http://www.scopus.com/inward/record.url?eid=2-s2.0-76249123966&partnerID=MN8TOARS.
    10.1109/IROS.2009.5354573
  61. Palamara, P.F.; Ziparo, V.A.; Iocchi, L.; Nardi, D.; Lima, P.. "Teamwork design based on petri net plans". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5399 LNAI (2009): 200-211. http://www.scopus.com/inward/record.url?eid=2-s2.0-70349311443&partnerID=MN8TOARS.
    10.1007/978-3-642-02921-9_18
  62. Spaan, M.T.J.; Lima, P.U.. "A decision-theoretic approach to dynamic sensor selection in camera networks". ICAPS 2009 - Proceedings of the 19th International Conference on Automated Planning and Scheduling (2009): 297-304. http://www.scopus.com/inward/record.url?eid=2-s2.0-78650605570&partnerID=MN8TOARS.
  63. Lacerda, B.; Lima, P.. "Linear-time temporal logic control of discrete event models of cooperative robots". Journal of Physical Agents 2 1 (2008): 53-61. http://www.scopus.com/inward/record.url?eid=2-s2.0-84857037214&partnerID=MN8TOARS.
  64. Taiana, M.; Gaspar, J.; Nascimento, J.; Bernardino, A.; Lima, P.. "3D tracking by catadioptric vision based on particle filters". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 5001 LNAI (2008): 77-88. http://www.scopus.com/inward/record.url?eid=2-s2.0-50249188908&partnerID=MN8TOARS.
    10.1007/978-3-540-68847-1_7
  65. Wang, Fei-Yue; Lee, C. S. George; Valavanis, Kimon P.; Kyriakopoulos, Kostas J.; Lima, Pedro U.; Beard, Randal W.; Wen, John T.. "George Nikolaos Saridis - (November 17, 1931-October 29, 2006) - In memoriam". Journal of Intelligent & Robotic Systems 48 1 (2007): 3-4. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000243324600002&KeyUID=WOS:000243324600002.
    10.1007/s10846-006-9109-6
  66. Dumitriu, D; Marques, S; Lima, PU; Bastante, JC; Araujo, J; Penin, LF; Caramagno, A; Udrea, B. "Optimal guidance and decentralised state estimation applied to a formation flying demonstration mission in GTO". Iet Control Theory and Applications 1 2 (2007): 532-544. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000245840600011&KeyUID=WOS:000245840600011.
    10.1049/iet-cta:20050425
  67. Pedro V. Fazenda; Pedro U. Lima; Fazenda, P.V.; Lima, P.U.. "NON-HOLONOMIC ROBOT FORMATIONS WITH OBSTACLE COMPLIANT GEOMETRY". IFAC Proceedings Volumes 40 15 (2007): 439-444. http://dx.doi.org/10.3182/20070903-3-fr-2921.00075.
    10.3182/20070903-3-fr-2921.00075
  68. Wang, Fei-Yue; Lee, C. S. George; Valavanis, Kimon P.; Kyriakopoulos, Kostas J.; Lima, Pedro U.; Beard, Randal W.; Wen, John T.. "George Nikolaos Saridis". Ieee Control Systems Magazine 27 2 (2007): 101-101. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000245157400010&KeyUID=WOS:000245157400010.
    10.1109/MCS.2007.338283
  69. Milutinovic, D.Lj.; Lima, P.U.. "Stochastic modeling and control of a large-size robotic population". Springer Tracts in Advanced Robotics 32 (2007): 67-89. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448966142&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_7
  70. Milutinovic, D.Lj.; Lima, P.U.. "Conclusions and future work". Springer Tracts in Advanced Robotics 32 (2007): http://www.scopus.com/inward/record.url?eid=2-s2.0-35448929037&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_8
  71. Lima, P.U.; Lima, PU. "Robotics educational activities in Portugal: A motivating experience". IEEE Robotics and Automation Magazine 14 2 (2007): 16-17. http://www.scopus.com/inward/record.url?eid=2-s2.0-65449156024&partnerID=MN8TOARS.
    10.1109/MRA.2007.380637
  72. Silva, P.; Lima, P.U.. "Institutional robotics". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 4648 LNAI (2007): 595-604. http://www.scopus.com/inward/record.url?eid=2-s2.0-38049093379&partnerID=MN8TOARS.
  73. Milutinovic, D.Lj.; Lima, P.U.. "Introduction". Springer Tracts in Advanced Robotics 32 (2007): 1-8. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448988096&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_1
  74. Milutinovic, D.Lj.; Lima, P.U.. "Immune system and t-cell receptor dynamics of a T-cell population". Springer Tracts in Advanced Robotics 32 (2007): 9-14. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448992466&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_2
  75. Milutinovic, D.Lj.; Lima, P.U.. "Micro-agent population dynamics". Springer Tracts in Advanced Robotics 32 (2007): 25-34. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448944399&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_4
  76. Milutinovic, D.; Carneiro, J.; Athans, M.; Lima, P.. "Modeling dynamics of cell population molecule expression distribution". Nonlinear Analysis: Hybrid Systems 1 1 (2007): 81-94. http://www.scopus.com/inward/record.url?eid=2-s2.0-36549037637&partnerID=MN8TOARS.
    10.1016/j.nahs.2006.04.003
  77. Milutinovic, D.Lj.; Lima, P.U.. "Stochastic micro-agent model of the t-cell receptor dynamics". Springer Tracts in Advanced Robotics 32 (2007): 35-52. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448976859&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_5
  78. Marques, C.; Cristóvão, J.; Alvito, P.; Lima, P.; Frazão, J.; Ribeiro, I.; Ventura, R.. "A search and rescue robot with tele-operated tether docking system". Industrial Robot 34 4 (2007): 332-338. http://www.scopus.com/inward/record.url?eid=2-s2.0-34250804079&partnerID=MN8TOARS.
    10.1108/01439910710749663
  79. Milutinovic, D.Lj.; Lima, P.U.. "Stochastic micro-agent model uncertainties". Springer Tracts in Advanced Robotics 32 (2007): 53-66. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448932402&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_6
  80. Lima, P.U.; Lima, PU. "A Bayesian approach to sensor fusion in autonomous sensor and robot networks". IEEE Instrumentation and Measurement Magazine 10 3 (2007): 22-27. http://www.scopus.com/inward/record.url?eid=2-s2.0-34548359495&partnerID=MN8TOARS.
    10.1109/MIM.2007.4284253
  81. Milutinovic, D.Lj.; Lima, P.U.. "Micro-agent and stochastic micro-agent models". Springer Tracts in Advanced Robotics 32 (2007): 15-23. http://www.scopus.com/inward/record.url?eid=2-s2.0-35448977688&partnerID=MN8TOARS.
    10.1007/978-3-540-71982-3_3
  82. Barbosa, M.; Ramos, N.; Lima, P.. "Mermaid multiple-robot middleware for intelligent decision-making". IFAC Proceedings Volumes (IFAC-PapersOnline) 6 PART 1 (2007): 427-432. http://www.scopus.com/inward/record.url?eid=2-s2.0-79960943029&partnerID=MN8TOARS.
  83. Costelha, H.; Lima, P.; Costelha, H; Lima, P. "Modelling, analysis and execution of robotic tasks using Petri nets". IEEE International Conference on Intelligent Robots and Systems (2007): 1449-1454. http://www.scopus.com/inward/record.url?eid=2-s2.0-51349151688&partnerID=MN8TOARS.
    10.1109/IROS.2007.4399365
  84. Tajana, M; Gaspar, J; Nascimento, J; Bernardino, A; Lima, P; Tajana, M.; Gaspar, J.; et al. "On the use of perspective catadioptric sensors for 3D model-based tracking with particle filters". 2007 Ieee/rsj International Conference on Intelligent Robots and Systems, Vols 1-9 (2007): 2753-2758. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000254073201223&KeyUID=WOS:000254073201223.
    10.1109/IROS.2007.4399529
  85. Pahliani, A; Lima, P; Pahliani, A.; Lima, P.. "Cooperative opinion pool: A new method for sensor fusion by a robot team". 2007 Ieee/rsj International Conference on Intelligent Robots and Systems, Vols 1-9 (2007): 3727-3732. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000254073202135&KeyUID=WOS:000254073202135.
    10.1109/IROS.2007.4399058
  86. da Silva, VF; Lima, P; Costa, AHR; Da Silva, V.F.; Lima, P.; Costa, A.H.R.. "Eliciting preferences over observed behaviours based on relative evaluations". 2007 Ieee/rsj International Conference on Intelligent Robots and Systems, Vols 1-9 (2007): 429-434. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000254073200068&KeyUID=WOS:000254073200068.
    10.1109/IROS.2007.4399403
  87. Dumitriu, D.; Marques, S.; Lima, P.U.; Udrea, B.. "Decentralized, low-communication state estimation and optimal guidance of formation flying spacecraft". Advances in the Astronautical Sciences 124 I (2006): 895-910. http://www.scopus.com/inward/record.url?eid=2-s2.0-34247172999&partnerID=MN8TOARS.
  88. Marques, C.; Cristóvão, J.; Lima, P.; Frazão, J.; Ribeiro, I.; Ventura, R.; Marques, C; et al. "RAPOSA: Semi-autonomous robot for rescue operations". IEEE International Conference on Intelligent Robots and Systems (2006): 3988-3993. http://www.scopus.com/inward/record.url?eid=2-s2.0-34250623934&partnerID=MN8TOARS.
    10.1109/IROS.2006.281836
  89. Milutinovic, D.; Lima, P.. "Modeling and optimal centralized control of a large-size robotic population". IEEE Transactions on Robotics 22 6 (2006): 1280-1285. http://www.scopus.com/inward/record.url?eid=2-s2.0-33845542857&partnerID=MN8TOARS.
    10.1109/TRO.2006.882941
  90. da Silva, VF; Costa, AHR; Lima, P; Da Silva, V.F.; Costa, A.H.R.; Lima, P.. "Inverse reinforcement learning with evaluation". 2006 Ieee International Conference on Robotics and Automation (Icra), Vols 1-10 2006 (2006): 4246-4251. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000240886909028&KeyUID=WOS:000240886909028.
    10.1109/ROBOT.2006.1642355
  91. Lima, PU; Groen, FCA. "Special issue on multi-robots in dynamic environments". Robotics and Autonomous Systems 50 2-3 (2005): 81-83. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000226849800001&KeyUID=WOS:000226849800001.
    10.1016/j.robot.2004.08.001
  92. Lima, P.; Custódio, L.. "RoboCup 2004 overview". Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) 3276 (2005): 1-17. http://www.scopus.com/inward/record.url?eid=2-s2.0-26444506782&partnerID=MN8TOARS.
  93. Van der Vecht, B.; Lima, P.. "Formulation and implementation of relational behaviours for multi-robot cooperative systems". Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) 3276 (2005): 516-523. http://www.scopus.com/inward/record.url?eid=2-s2.0-26444594877&partnerID=MN8TOARS.
  94. Dumitriu, D.; Lima, P.U.; Udrea, B.. "Optimal trajectory planning of formation flying spacecraft". IFAC Proceedings Volumes (IFAC-PapersOnline) 16 (2005): 313-318. http://www.scopus.com/inward/record.url?eid=2-s2.0-79960707633&partnerID=MN8TOARS.
  95. Melo, F.A.; Ribeiro, M.I.; Lima, P.. "Navigation controllability of a mobile robot population". Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) 3276 (2005): 499-507. http://www.scopus.com/inward/record.url?eid=2-s2.0-26444433861&partnerID=MN8TOARS.
  96. Tabuada, P.; Pappas, G.J.; Lima, P.. "Motion feasibility of multi-agent formations". IEEE Transactions on Robotics 21 3 (2005): 387-392. http://www.scopus.com/inward/record.url?eid=2-s2.0-20844461097&partnerID=MN8TOARS.
    10.1109/TRO.2004.839224
  97. Lima, P.; Custódio, L.; Akin, H.L.; Jacoff, A.; Kraetzschmar, G.; Kiat, N.B.; Obst, O.; et al. "RoboCup 2004 competitions and symposium: A small kick for robots, a giant score for science". AI Magazine 26 2 (2005): 36-61. http://www.scopus.com/inward/record.url?eid=2-s2.0-21244444711&partnerID=MN8TOARS.
  98. Lima, P.U.; Custodio, L.M.M.. "Artificial intelligence and systems theory: Applied to cooperative Robots". International Journal of Advanced Robotic Systems 1 1 (2004): 141-148. http://www.scopus.com/inward/record.url?eid=2-s2.0-33745682094&partnerID=MN8TOARS.
  99. Marques, C.; Lima, P.. "Avoiding obstacles". IEEE Robotics and Automation Magazine 11 3 (2004): 70-82. http://www.scopus.com/inward/record.url?eid=2-s2.0-5144219617&partnerID=MN8TOARS.
    10.1109/MRA.2004.1337828
  100. Marques, C; Lima, P. "Avoiding obstacles - Multisensor navigation for nonholonomic robots in cluttered environments". Ieee Robotics & Automation Magazine 11 3 (2004): 70-82. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000224038300010&KeyUID=WOS:000224038300010.
  101. Damas, B.D.; Lima, P.U.; Custódio, L.M.. "A modified potential fields method for robot navigation applied to dribbling in robotic soccer". Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) 2752 (2003): 65-77. http://www.scopus.com/inward/record.url?eid=2-s2.0-23144458833&partnerID=MN8TOARS.
  102. Kaminka, G.; Lima, P.U.; Rojas, R.. "Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science): Preface". Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) 2752 (2003): http://www.scopus.com/inward/record.url?eid=2-s2.0-23144464100&partnerID=MN8TOARS.
  103. Pina, JM; Lima, PU; Pina, J.M.; Lima, P.U.. "A glass furnace operation system using fuzzy modelling and genetic algorithms for performance optimisation". Engineering Applications of Artificial Intelligence 16 7-8 (2003): 681-690. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000188295400009&KeyUID=WOS:000188295400009.
    10.1016/j.engappai.2003.10.002
  104. Burkhard, H.-D.; Duhaut, D.; Fujita, M.; Lima, P.; Murphy, R.; Rojas, R.. "The road to RoboCup 2050". IEEE Robotics and Automation Magazine 9 2 (2002): 31-38. http://www.scopus.com/inward/record.url?eid=2-s2.0-0036600191&partnerID=MN8TOARS.
    10.1109/MRA.2002.1019488
  105. Lima, P.; Balch, T.; Fujita, M.; Rojas, R.; Veloso, M.; Yanco, H.A.. "RoboCup 2001". IEEE Robotics and Automation Magazine 9 2 (2002): 20-30. http://www.scopus.com/inward/record.url?eid=2-s2.0-0036600072&partnerID=MN8TOARS.
    10.1109/MRA.2002.1019487
  106. Marques, C.F.; Lima, P.U.. "Multi-sensor navigation for soccer robots". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2377 LNAI (2002): 144-153. http://www.scopus.com/inward/record.url?eid=2-s2.0-84867446381&partnerID=MN8TOARS.
  107. Lima, P.; Custódio, L.; Damas, B.; Lopes, M.; Marques, C.; Toscano, L.; Ventura, R.. "ISocRob 2001 team description". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2377 LNAI (2002): 653-656. http://www.scopus.com/inward/record.url?eid=2-s2.0-84867464280&partnerID=MN8TOARS.
  108. Milutinovic, D.; Lima, P.; Milutinovic, D; Lima, P. "Petri net models of robotic tasks". Proceedings - IEEE International Conference on Robotics and Automation 4 (2002): 4059-4064. http://www.scopus.com/inward/record.url?eid=2-s2.0-0036060658&partnerID=MN8TOARS.
  109. Burkhard, HD; Duhaut, D; Fujita, M; Lima, P; Murphy, R; Rojas, R. "The road to RoboCup 2050 - Past progress brings us towards a research road map for further competitions and developments". Ieee Robotics & Automation Magazine 9 2 (2002): 31-38. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000176698500005&KeyUID=WOS:000176698500005.
  110. Lima, P; Balch, T; Fujita, M; Rojas, R; Veloso, M; Yanco, HA. "RoboCup 2001 - A report on research issues that surfaced during the competitions and conference". Ieee Robotics & Automation Magazine 9 2 (2002): 20-30. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000176698500004&KeyUID=WOS:000176698500004.
  111. Damas, Bruno D.; Lima, Pedro U.; Custódio, Luis M.. "Navegação entre obstáculos usando um método de campos de potencial modificados". (2002): https://proa.ua.pt/index.php/revdeti/article/view/18006.
  112. Lima, Pedro; Custódio, Luis. "Artificial intelligence and systems theory applied to cooperative robots: the SocRob project". (2002): https://proa.ua.pt/index.php/revdeti/article/view/17991.
  113. Leão, Duarte; Pereira, T.; Lima, Pedro; Custódio, Luís. "Planeamento de Trajectórias usando Caminhos de Curvatura Contínua". Robótica 48-49 (2002):
    Published
  114. Marques, C.F.; Lima, P.U.. "A localization method for a soccer robot using a vision-based omni-directional sensor". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2019 LNAI (2001): 96-107. http://www.scopus.com/inward/record.url?eid=2-s2.0-84867456136&partnerID=MN8TOARS.
  115. Tabuada, P.; Pappas, G.J.; Lima, P.; Tabuada, P; Pappas, GJ; Lima, P. "Compositional abstractions of hybrid control systems". Proceedings of the IEEE Conference on Decision and Control 1 2 (2001): 352-357. http://www.scopus.com/inward/record.url?eid=2-s2.0-0035712651&partnerID=MN8TOARS.
    10.1109/CDC.2001.980125
  116. Stone, P.; Asada, M.; Balch, T.; D'Andrea, R.; Fujita, M.; Hengst, B.; Kraetzschmar, G.; et al. "RoboCup-2000: The Fourth Robotic Soccer World Championships". AI Magazine 22 1 (2001): 11-38. http://www.scopus.com/inward/record.url?eid=2-s2.0-0035280047&partnerID=MN8TOARS.
  117. Lima, P; Bonarini, A; Machado, C; Marchese, F; Marques, C; Ribeiro, F; Sorrenti, D; et al. "Omni-directional catadioptric vision for soccer robots". Robotics and Autonomous Systems 36 2 (2001): 87-102. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000170678300004&KeyUID=WOS:000170678300004.
    10.1016/S0921-8890(01)00139-7
  118. Tabuada, P; Pappas, GJ; Lima, P; Tabuada, P.; Pappas, G.J.; Lima, P.. "Feasible formations of multi-agent systems". Proceedings of the 2001 American Control Conference, Vols 1-6 1 (2001): 56-61. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000173663300010&KeyUID=WOS:000173663300010.
    10.1109/ACC.2001.945513
  119. Ventura, R.; Pedro, A.; Marques, C.; Lima, P.; Custódio, L.. "ISocRob — Intelligent society of robots". Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 1856 (2000): 715-718. http://www.scopus.com/inward/record.url?eid=2-s2.0-84883258507&partnerID=MN8TOARS.
  120. Clements, Robert; Tavares, Pedro; Lima, Pedro. "Small satellite attitude control based on a Kalman filter". IEEE International Symposium on Intelligent Control - Proceedings (2000): 79-84. http://www.scopus.com/inward/record.url?eid=2-s2.0-0034481072&partnerID=MN8TOARS.
  121. Van der Zwaan, Sjoerd; Moreira, Jose A.A.; Lima, Pedro U.. "Cooperative learning and planning for multiple robots". IEEE International Symposium on Intelligent Control - Proceedings (2000): 351-356. http://www.scopus.com/inward/record.url?eid=2-s2.0-0034483999&partnerID=MN8TOARS.
  122. Portella, Nuno V.; Marques, Carlos; Lima, Pedro U.. "Optical track detection for mobile robots based on real time fuzzy decision-making". IEEE International Symposium on Intelligent Control - Proceedings (2000): 193-198. http://www.scopus.com/inward/record.url?eid=2-s2.0-0034475001&partnerID=MN8TOARS.
  123. Marques, CF; Lima, PU; Marques, C.F.; Lima, P.U.. "Vision-based self-localization for soccer robots". 2000 Ieee/rsj International Conference on Intelligent Robots and Systems (Iros 2000), Vols 1-3, Proceedings 2 (2000): 1193-1198. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000166948600193&KeyUID=WOS:000166948600193.
  124. Lima, PU; Saridis, GN; Lima, P.U.; Saridis, G.N.. "Intelligent controllers as hierarchical stochastic automata". Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics 29 2 (1999): 151-163. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000079319900002&KeyUID=WOS:000079319900002.
    10.1109/3477.752790
  125. Fernandes, Dinis G.; Lima, Pedro U.. "Testbed for robotic visual servoing and catching of moving objects". Proceedings of the IEEE International Conference on Electronics, Circuits, and Systems 2 (1998): 475-478. http://www.scopus.com/inward/record.url?eid=2-s2.0-0032281004&partnerID=MN8TOARS.
  126. Ribeiro, M.Isabel; Lima, Pedro; Aparicio, Pedro; Ferreira, Renato. "Conceptual study on flexible guidance and navigation for ITER remote handling transport casks". Proceedings - Symposium on Fusion Engineering 2 (1998): 969-972. http://www.scopus.com/inward/record.url?eid=2-s2.0-0031636988&partnerID=MN8TOARS.
  127. Ribeiro, M.Isabel; Lima, Pedro; Aparicio, Pedro; Ferreira, Renato. "Active docking of a transport cask vehicle subject to 6 degrees of freedom misalignments". Proceedings - Symposium on Fusion Engineering 2 (1998): 973-976. http://www.scopus.com/inward/record.url?eid=2-s2.0-0031642756&partnerID=MN8TOARS.
  128. Ventura, R; Aparicio, P; Lima, P; Pinto-Ferreira, C; Ventura, Rodrigo; Aparicio, Pedro; Lima, Pedro; Pinto-Ferreira, Carlos. "SocRob - A society of cooperative mobile robots". 1998 Ieee International Conference on Systems, Man, and Cybernetics, Vols 1-5 4 (1998): 3319-3324. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000077033700578&KeyUID=WOS:000077033700578.
  129. Lima, P; Gracio, H; Veiga, V; Karlsson, A; Lima, Pedro; Gracio, Hugo; Veiga, Vasco; Karlsson, Anders. "Petri nets for modeling and coordination of robotic tasks". 1998 Ieee International Conference on Systems, Man, and Cybernetics, Vols 1-5 1 (1998): 190-195. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:000077033700033&KeyUID=WOS:000077033700033.
  130. Lima, PU; Saridis, GN; Lima, P.U.; Saridis, G.N.. "Learning optimal robotic tasks". Ieee Intelligent Systems & Their Applications 11 2 (1996): 38-45. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:A1996UD43400009&KeyUID=WOS:A1996UD43400009.
    10.1109/64.491280
  131. Lima, Pedro; Saridis, George. "Performance improvement of intelligent machines through feedback". IEEE International Symposium on Intelligent Control - Proceedings (1995): 73-78. http://www.scopus.com/inward/record.url?eid=2-s2.0-0029192122&partnerID=MN8TOARS.
  132. LIMA, P; SARIDIS, G; Lima, Pedro; Saridis, George. "HIERARCHICAL REINFORCEMENT LEARNING AND DECISION-MAKING FOR INTELLIGENT MACHINES". 1994 Ieee International Conference on Robotics and Automation: Proceedings, Vols 1-4 pt 1 (1994): 33-38. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=ORCID&SrcApp=OrcidOrg&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=WOS:A1994BA72M00006&KeyUID=WOS:A1994BA72M00006.
  133. Lima, Pedro; Saridis, George. "Measuring complexity of intelligent machines". Proceedings - IEEE International Conference on Robotics and Automation 1 (1993): 917-922. http://www.scopus.com/inward/record.url?eid=2-s2.0-0027224810&partnerID=MN8TOARS.
Preprint
  1. Alcedo, Kevin; Lima, Pedro U.; Alami, Rachid. "Perspective-Shifted Neuro-Symbolic World Models: A Framework for Socially-Aware Robot Navigation". 2025. http://arxiv.org/abs/2503.20425.

Other

Dataset
  1. Certo, Afonso; Martins, Bruno; Azevedo, Carlos; Lima, Pedro U.. GPSR Instruction Dataset. 2025.
    10.57967/hf/5117
Other output
  1. An observer cascade for velocity and multiple line estimation. 2022. Mateus, A.; Lima, P.U.; Miraldo, P.. http://www.scopus.com/inward/record.url?eid=2-s2.0-85127012322&partnerID=MN8TOARS.
  2. On incremental structure-from-motion using lines. 2021. Mateus, A.; Tahri, O.; Aguiar, A.P.; Lima, P.U.; Miraldo, P.. http://www.scopus.com/inward/record.url?eid=2-s2.0-85108502888&partnerID=MN8TOARS.
Activities

Supervision

Thesis Title
Role 		Degree Subject (Type)
Institution / Organization
2023 - 2023 Multi-Robot Coordination Under Uncertainty in Cyclic Long Horizon Tasks
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2022 - 2022 Methodologies for Benchmarking of Robot Tasks and Systems
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2021 - 2021 On the Exploitation of 3D Straight Lines for Active Mapping and Camera Localization
Co-supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2020 - 2020 An Institutional Approach to Normative Distributed Robotics for Mixed Societies of Humans and Robots
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2018 - 2018 Distributed State Estimation and Control of Autonomous Quadrotor Formations Using Exclusively Onboard Resources
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2016 - 2016 Context-Based Thermodynamic Modeling and Optimal Management of Energy and Occupant Comfort for Building Spaces
Supervisor
 Sistemas Sustentáveis de Energia (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2015 - 2015 Information Gain and Value Function Approximation in Task Planning Using POMDPs
Co-supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2014 - 2014 Audio-based Positioning and Target Localization for Swarms of Micro Aerial Vehicles
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2009 - 2009 An Integrated Bayesian Approach to Multi-Robot Cooperative Perception
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2009 - 2009 Decision-Making under Uncertainty for Real Robot Teams
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2009 - 2009 Advancing Social Interactions Among Robots: An Institutional Economics-based Approach to Distributed Robotic Systems
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2009 - 2009 Multi-Robot 3D Target Estimation Under Uncertainty
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2008 - 2008 Supervision of Discrete Event Systems Based on Temporal Logic Specifications
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
Universidade de Lisboa Instituto Superior Técnico, Portugal
2007 - 2007 Robótica Institucionalista as Ciências do Artificial Como Ciências do Humano
Supervisor
 Filosofia (PhD)
Universidade de Lisboa, Portugal
2007 - 2007 Extracção de Preferências por Meio de Avaliações de Comportamentos Observados
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2006 - 2006 Active Cooperative Perception in Networked Robot Systems
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2004 - 2004 Stochastic Model of Micro-agent Populations
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2003 - 2003 Robotic Tasks Modelling and Analysis Based on Discrete Event Systems
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2003 - 2003 Planning, Learning and Control Under Uncertainty Based on Discrete Event Systems and Reinforcement Learning
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2002 - 2002 Decentralized Low Communication 6dof Full State Formation Navigation
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)
2002 - 2002 Hierarchies and Compositional Abstractions of Hybrid Systems
Supervisor
 Engenharia Electrotécnica e de Computadores (PhD)

Event organisation

Event name
Type of event (Role) 		Institution / Organization
2004 - Current Robotics Chair AAMAS08 || IPC Chair IFAC MVS06 || General Chair RoboCup 2004 (2004)
Conference

Event participation

Activity description
Type of event 		Event name
Institution / Organization
2016 - Current Invited Speaker, MBZIRC Workshop: “Twenty Years of Research Driven By Robot Competitions”, Abu-Dhabi, UAE, 19 de Março de 2017 Invited Lecturer, 3rd Orebro Winter School on Artificial Intelligence and Robotics, “Benchmarking and Evaluation of Intelligent Robotic Systems”, Orebro, Sweden, 15 Dec 2016 Invited Speaker, IROS2016 Workshop Challenges in Robot Competitions (organized by Tomomasa Sato, Bruno Siciliano, Henrik I. Christensen, Minoru Asada, Elena Messina, Hiroyuki Okada, Kazuhito Yokoi, Satoshi Tadokoro), “The European Robotics League”
2015 - Current Invited Speaker, IROS2015 Workshop “Open forum on evaluation of results, replication of experiments and benchmarking in robotics research” (organized by Fabio P. Bonsignorio, Elena Messina, Angel P. Del Pobil), “Probabilistic approaches to robot task benchmarking”, Hamburg, Germany, 28 September 2015 Invited Speaker, IROS2015 Workshop “Robot Competitions: What Did We Learn” (organized by Jorge Dias, Kaspar Althoefer, Pedro Lima), “RoCKIn: the Journey So Far and the Upcoming Final Competition”, Hamburg, Germany, 28 September 2015
2014 - Current Invited Lecturer - IEEE-RAS 2015 Summer School on Experimental Methodology, Performance Evaluation and Benchmarking in Robotics, “Probabilistic Approaches to Robot Task Benchmarking”, Benicassim, Spain, Sep 2015 Invited Lecturer - 2nd Orebro Winter School on Artificial Intelligence and Robotics, “Benchmarking and Evaluation of Intelligent Robotic Systems”, Orebro, Sweden, Dec 2014 Invited Speaker - WARV 2014 Special Session on Active Robot Vision - VISIGRAPP 2014, “Applications of Vision to Multi-Robot and Networked Robot Systems, Lisbon, Jan 2014
2013 - Current Plenary Talk during ICAR 2013, Montevideo, Uruguay, 28 Nov 2013 Shanghai Lecture, "From Bio-Inspited to Institutional-Inspired Collective Robotics", 24 Oct 2013

Committee member

Activity description
Role 		Institution / Organization
2007/01/01 - Current Deputy Vice-President for Scientific Affairs of IST Scientific Board (2007-2009) Deputy President Scientific Affairs ISR/IST 2013-2014 and 2017-2018 and 2019- Universidade de Lisboa Instituto Superior Técnico, Portugal
2003 - Current Member Advisory Board H2020 PERASPERA: Plan the European Roadmap and its Activities for SPace Exploitation of Robotics and Autonomy National Delegate EC FP7 Space Programme Committee and ESA Programme Board for Human Spaceflight Microgravity and Exploration (2009-2012) Member Abu Dhabi's Khalifa University Robotics Advisory Panel Trustee of the RoboCup Federation (2003-2012; 2016-).

Journal scientific committee

Journal title (ISSN) Publisher
2016 - Current Robotics and Autonomous Systems - Associate Editor Elsevier
Distinctions

Award

2020 MBZIRC2020 Challenge 3 Winner
Universidad de Sevilla, Spain

Laboratório de Robótica e Sistemas de Engenharia, Portugal

FADA-CATEC, Spain
2007 Best Philosophy Paper Award (co-author)
European Conference on Artificial Life, Portugal
2000 RoboCup 2000 Workshop Engineering Challenge Award (co-author and supervisor)
RoboCup Federation, United States

Other distinction

2024 Keynote Speaker
IEEE Robotics and Automation Society, United States

Nihon Robot Gakkai, Japan
2013 Plenary Speaker
IEEE Robotics and Automation Society, United States
2012 IROS 2012 Best Application Paper Award
IEEE Robotics and Automation Society, United States
2009 Cátedra de Excelência - 6 months
Universidad Carlos III de Madrid - Campus de Leganés, Spain
2007 co-author of finalist paper - RoboCup Symposium 2007 Best Paper Award
2006 Supervisor of PhD thesis ranked 2nd in Georges Giralt PhD Award (author: Dejan Milutinovic)
EURON - European Robotics Network, Belgium
2001 Finalista (co-author and supervisor) - Best Student Paper Award
American Control Conference, United States