Dr. Rui Rocha
Institute of Systems and Robotics, Department of Electrical and Computer Engineering, University of Coimbra, 3030-290 Coimbra, Portugal
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Academic Career Length
22Years (2005-Present)
(Calculated once Scilit publication data is synced: current year − year of first publication + 1)
Representative Publications
View All Publications1 October 2013
Conference Paper
In this work, a study of several laser-based 2D Simultaneous Localization and Mapping (SLAM) techniques available in Robot Operating System (ROS) is conducted. All the approaches have been evaluated and compared in 2D simulations and real world experiments. In order to draw conclusions on the performance of the tested techniques, the experimental results were collected under the same conditions and a generalized performance metric based on the k-nearest neighbors concept was applied. Moreover, the CPU load of each technique is examined. This work provides insight on the weaknesses and strengths of each solution. Such analysis is fundamental to decide which solution to adopt according to the properties of the intended final application.
5 May 2012 in Signal, Image and Video Processing
Journal Article
Micael Santos CouceiroRui Rocha
Nuno Miguel Fonseca Ferreira
Jose Antonio Tenreiro Machado1 November 2011
Conference Paper
Micael Santos CouceiroRui RochaNuno Miguel Fonseca FerreiraThis paper proposes two extensions of Particle Swarm Optimization (PSO) and Darwinian Particle Swarm Optimization (DPSO), respectively named as RPSO (Robotic PSO) and RDPSO (Robotic DPSO), so as to adapt these promising biological-inspired techniques to the domain of multi-robot systems, by taking into account obstacle avoidance. These novel algorithms are demonstrated for groups of simulated robots performing a distributed exploration task. The concepts of social exclusion and social inclusion are used in the RDPSO algorithm as a “punish-reward” mechanism enhancing the ability to escape from local optima. Experimental results obtained in a simulated environment show that biological and sociological inspiration can be useful to meet the challenges of robotic applications that can be described as optimization problems (e.g. search and rescue).
1 December 2013 in Robotics and Autonomous Systems
Journal Article
David PortugalRui Rocha1 January 2011
Book Chapter
David PortugalRui RochaThis article presents a survey on cooperative multi-robot patrolling algorithms, which is a recent field of research. Every strategy proposed in the last decade is distinct and is normally based on operational research methods, simple and classic techniques for agent’s coordination or alternative, and usually more complex, coordination mechanisms like market-based approaches or reinforcement-learning. The variety of approaches differs in various aspects such as agent type and their decision-making or the coordination and communication mechanisms. Considering the current work concerning the patrolling problem with teams of robots, it is felt that there is still a great potential to take a step forward in the knowledge of this field, approaching well-known limitations in previous works that should be overcome.
About Me
Rui P. Rocha is a tenured Associate Professor with the Department of Electrical and Computer Engineering of the University of Coimbra and a Permanent Researcher of the Institute of Systems and Robotics – University of Coimbra. He received the pre-Bologna Engineering, M.Sc., and PhD degrees in Electrical and Computer Engineering from the Faculty of Engineering of the University of Porto, in 1996, 1999 and 2006, respectively. His main research area is cooperative mobile robotics and his main research interests are multi-robot systems, cooperative perception, multi-robot coordination, service robotics, ambient assisted living (AAL) and autonomous robots. He has been involved in several FP6, FP7, and H2020 EU-funded R&D projects developed in consortium, was the PI of a research project on urban search and rescue robotics, and has been the local coordinator of technology transfer projects on multi-robot patrolling of infrastructures and on AAL. He is the co-author of about 100 papers published in ISI-indexed scientific journals, book chapters, and proceedings of peer-reviewed international conferences. He is a Senior Member of IEEE and a member of the IEEE RAS Technical Committee on Multi-Robot Systems.