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Article Index
Important Dates
Submission Guidelines
Presentation Guidelines
Invited Speaker
Organizing Committee
Steering Committee
International Program Committee


10th Conference on Mobile Robots and Competitions






IEEE IEEE_PT_white logo_RAS FCT_Vcolor250x84

logo_revista_robotica MEEM

The 10th Conference on Mobile Robots and Competitions is an international scientific meeting in the field of Mobile Robotics co-sponsored by the IEEE, through its Portuguese Section, and sponsored by the IEEE Robotics and Automation Society (RAS), through its Portuguese Chapter. It will take place in Leiria, Portugal, on the 24th of March, 2010, in conjunction with the 10th Portuguese Robotics Open. Its scope encompasses, but is not limited to, the fields of Artificial Intelligence, Robotics and Education.

Download the conference flyer.


  • Artificial Intelligence
  • Architectures for Mobile Robots
  • Sensors and Sensor Integration
  • Motion and Actuation Systems
  • Multi-Robot Interaction
  • Human-Robot Interaction
  • Simulation and Visualization
  • Robotic Competitions
  • Planning, Reasoning and Modeling
  • Cooperative Navigation and Control
  • Cooperative Perception
  • Computer Vision and Image-Processing
  • Navigation and Control of Mobile Robots
  • Recognition, Localization, Tracking, SLAM
  • Application of Autonomous Intelligent Robots
  • Computer and Robotic Entertainments

Important Dates

7th January, 2010 Submission is closed – Submission of full-length papers

22nd February 4st March, 2010 – Notification of Acceptance

1st 12th March, 2010 – Camera Ready Papers

24th March, 2010 – Robótica 2010 begins

Submission Guidelines

All authors are kindly invited to submit electronically their contributions by January 7th, 2010. Each contribution consists of a full length paper and, optionally, an attached video. Submissions will be peer reviewed anonymously by the International Program Committee, and selected based on the quality and relevance to the topics of the conference. At least one author per accepted paper must attend the conference and present the paper.

Paper Format

All papers must be submitted electronically in PDF format through the submission website. Papers must be written in English and have at most six (6) pages, including references and figures. A maximum of two (2) pages are permitted at an extra charge of 50 EUR per page. The maximum allowed file size is 10Mb.

Submissions must be prepared using A4 paper size and adhere to the IEEE guidelines. Templates are available both for LaTeX and MS Word.

To guarantee that the reviewing process is anonymous do not include author names in the initial submission. Please select the appropriate topics applicable to your work when submitting your paper, in order to guarantee a correct reviewer assignment.

Video Format

Videos clips must be prepared without using any special codecs (encoders/decoders) in order to provide maximum cross platform portability. We strongly recommend using one of the following formats (OGV, MPG/MPEG, AVI or WMV). Only freely available players (e.g. VLC, MPlayer, etc.) should be required to watch the video. The maximum video file size is 10Mb.

Presentation Guidelines

Oral Presentation

Papers accepted for oral presentation will have a 15 min slot for presentation plus a 5 min questions slot. Authors with papers accepted for oral presentation are also strongly encouraged to bring a printed poster in order to foster discussion of the research topics (see below for the poster guidelines).

Poster Presentation

Authors that had their papers accepted for poster presentation must bring a printed poster. The maximum, and recommended, poster size is A0 (portrait, 841 mm width x 1189 mm height).

There will be a time slot to foster discussion around the posters, where the authors are required to be available to present and answer questions about the work their presenting.


The conference program is available here (PDF).

8:30 – 9:10 Registration
9:15 – 9:30 Opening Session
9:30 – 10:30 Invited Speaker
Chair: Vítor Santos, University of Aveiro

Playware - Creating Playful Interaction with Modular Technology
Henrik Hautop Lund, Head of the Center for Playware at Technical University of Denmark (DTU Elektro)
10:30 – 10:45 Coffee-break

Session I - Multi-Robot Systems and Edutainment Robotics
Chair: Hugo Costelhas, Polytechnic Institute of Leiria
10:45 – 11:05 BENDER: An open, low–cost robot architecture for educational and research purposes
Nieves Pavón Pulido, Claudia Falcón Borrero, Joaquín Ferruz Melero, University of Huelva, Spain
11:05 – 11:25 Sensor and actuator stochastic modeling of the Lego Mindstorms NXT educational Kit
José Gonçalves (IPB), José Lima (IPB), Paulo Malheiros (FEUP), Paulo Costa (FEUP), Portugal
11:25 – 11:45 Towards an open testbed for the cooperation of robots and wireless sensor networks
Adrian Jimenez, Jose Ramiro Martinez-de Dios, Jose Manuel Sanchez-Matamoros, Anibal Ollero, University of Sevilla, Spain
11:45 – 12:05 Multi-Robot Coordination using Setplays in the Simulation League
Luís Mota (ISCTE), Luís Paulo Reis (FEUP), Nuno Lau (Uaveiro), Portugal
12:05 – 14:00 Lunch

Session II - Robotic Competitions and Intelligent Systems
Chair: Carlos Neves, Polytechnic Institute of Leiria
14:00 – 14:20 Classification of FC Portugal Robotic Soccer Formations:
A Comparative Study of Machine Learning Algorithms
Brígida Mónica Faria (ESTSP/IPP), Gladys Castillo (DMAT/UA), Nuno Lau (DETI/UA), Luis Paulo Reis (FEUP), Portugal
14:20 – 14:40 Brain: A Deliberative CiberMouse Agent
Luis Rei, Luís Paulo Reis, FEUP, Portugal
14:40 – 15:00 Compensation of Azimuthal Distortions on a Free Spinning 2D Laser Range Finder for 3D Data Set Generation
Ricardo J.S Pascoal, Vitor Santos, University of Aveiro, Portugal
15:00 – 15:20 Humanoid Robot Gait Planning Resorting to an Adaptive Simulated Annealing Algorithm
Jose Lima (IPB), José Gonçalves (IPB), Paulo Costa (FEUP), Antonio Paulo Moreira (FEUP), Portugal
15:20 – 15:40 Vestibular Calibration of a Humanoid Robot's Head
José Santos, Alexandre Bernardino, ISR/IST, Portugal
15:40 – 17:00 Cofee-break and Poster Session
The poster session includes posters of all papers, including those presented orally.

Experiments with navigation based on the RSS of wireless communication
Luís Oliveira (INESC, Portugal), Hongbin Li (Zhejiang University, China), Luis Almeida (FEUP, Portugal)

Robotic Manipulator and Artificial Vision System for Picking Cork Pieces in a Conveyor Belt
Miguel Pinto, António Paulo Moreira, Paulo Costa, Marcos Ferreira, Paulo Malheiros, FEUP, Portugal

Rehabilitating a Nomad SuperScout Robot
Edgar Andrade, Filipe Caetano, Jose Quaresma, Luis Perdigoto, Luis Conde Bento, Polytechnic Institute of Leiria, Portugal

Flexible Movement Planning in Humanoid Soccer
Buno Pimentel (Uaveiro), Nuno Lau (Uaveiro), Luís Paulo Reis (FEUP), Portugal

Session III - Field and Application Robotics
Chair: Luís Paulo Reis, FEUP
17:00 – 17:20 Nessie IV Autonomous Underwater Vehicle wins the SAUC-E Competition
Francesco Maurell, Joel Cartwright, Nick Johnson Yvan Petillot, Heriot-Watt University, United Kingdom
17:20 – 17:40 An Extension to Rough Terrains of the MPC/CLF Mobile Vehicle Navigation Approach
Adnan Tahirovic, Gianantonio Magnani, Politecnico di Milano, Italy
17:40 – 18:00 Low cost self-localization system with two beacons
Heber Sobreira (FEUP), A. Paulo Moreira (FEUP), João Sena, Portugal
18:00 – 18:20 Robotized Painting with Automatic Reconfiguration
Marcos Ferreira (FEUP), Paulo Malheiros (FEUP), António Paulo Moreira (FEUP), Norberto Pires (University of Coimbra), Portugal
18:20 – 18:30 Prizes and Closing Session
20:30 Gala Dinner


Invited Speaker

The organizing committee is glad to announce that Professor Henrik Hautop Lund, head of the Center for Playware at the Technical University of Denmark, will be the invited keynote speaker with the talk "Playware - Creating Playful Interaction with Modular Technology".


Registration is no longer available.



Start Date End Date Normal
SPR member**
Early Registration 14/Dec/2009 18/Jan/2010 100 € 100 €
Normal Registration 19/Jan/2010 15/Mar/2010 150 € 100 €
Agravated Registration 16/Mar/2010 22/Mar/2010 180 € 130 €
Same Day Registration 24/Mar/2010 250 € 200 €

* Student members must submit a copy of their up to date student id card upon registration.
** Members of the Portuguese Robotics Society must have their fees up to date.

As as long as they are not presenting authors, participants registered on the Portuguese Robotics Open may attend the conference without registration. No coffee-breaks, proceedings or meals are included in this case.


The following awards were given:

Best Conference Paper

The Best Conference Paper Award was given to "Nessie IV Autonomous Underwater Vehicle wins the SAUC-E Competition", authored by Francesco Maurelli, Joel Cartwright, Nick Johnson and Yvan Petillot, from the Heriot-Watt University, United Kingdom.

The prize includes 250 EUR awarded by the Portuguese Robotics Society, plus a 100 EUR voucher awarded by the Robotica magazine, sponsored by Engebook, and a certificate.

The best conference paper will be published in the robotica magazine, the main technical publication in Portugal in the field of Robotics and Automation.

Best Student Paper

The Best Student Paper Award was given to "An Extension to Rough Terrains of the MPC/CLF Mobile Vehicle Navigation Approach", authored by Adnan Tahirovic and Gianantonio Magnani, from the Dipartimento di Elettronica e Informazione, Politecnico di Milano, Italy.

The prize includes a 100 EUR voucher awarded by the Robotica magazine, sponsored by Engebook, and a certificate.

The best student paper will be published in the IEEE Multidisciplinary Engineering Education Magazine (MEEM), the official publication of the IEEE Education Society Student Activities Committee. It will also be published in the robotica magazine, the main technical publication in Portugal in the field of Robotics and Automation.

Best Paper Presentation

The Best Paper Presentation Award was given to "Towards an open testbed for the cooperation of robots and wireless sensor networks", authored by Adrian Jiménez, José Ramiro MartÍnez-de Dios, José Manuel Sánchez-Matamoros and Aníbal Ollero, from the GRVC at University of Sevilla, Spain.

The prize includes a 100 EUR voucher awarded by the Robotica magazine, sponsored by Engebook, and a certificate.

The paper will be published in the robotica magazine, the main technical publication in Portugal in the field of Robotics and Automation.

Publishing in the Robotica magazine

The three awarded papers, plus the following two papers, were selected for publishing in the robotica magazine, the main technical publication in Portugal in the field of Robotics and Automation.

  • "Classification of FC Portugal Robotic Soccer Formations: A Comparative Study of Machine Learning Algorithms" by Brígida Mónica Faria (ESTSP/IPP), Gladys Castillo (DMAT/UA), Nuno Lau (DMAT/UA) and Luis Paulo Reis (FEUP/UP), Portugal.
  • "Robotized Painting with Automatic Reconfiguration" by Marcos Ferreira (FEUP/UP), Paulo Malheiros (FEUP/UP), António Paulo Moreira (FEUP/UP) and Norberto Pires (DEM/UC), Portugal.


The conference will take place at the Polytechnic Institute of Leiria, in the Great Auditorium of the Superior School of Technology and Management. Leiria is a district capital of Portugal, located in the center of the country, 140 km North of Lisbon. For more information about Leiria, or reaching Leiria, read this flyer and check the provided map.




You can find accomodation information here.




Escola Superior de Tecnologia e Gestão de Leiria, Instituto Politécnico de Leiria

Campus 2, Morro do Lena – Alto do Vieiro, Apartado 4163, 2411-901 Leiria, Portugal

Fax: +351 244 820 310, E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it

Organizing Committee

Carlos Neves (IPL-PT) Chair
Hugo Costelha (IPL-PT) Vice Chair
Carlos Simplício (IPL-PT)
Luís Bento (IPL-PT)



Steering Committee

Alessandro De Luca (URoma - IT)
Alicia Casals (UPC - ES)
Bruno Siciliano (UNINA - IT)
Hideki Hashimoto (UTokyo - JP)
Toshio Fukuda (UNagoya - JP)
Vijay Kumar (UPENN – USA)


International Program Committee

Alexandre Bernardino (IST - PT)
Alfredo Martins (ISEP - PT)
Aníbal Matos (FEUP - PT)
Aníbal Ollero (US - ES)
António Jesus Bandera Rubio (UM - ES)
António Paulo Moreira (FEUP - PT)
António Pascoal (IST - PT)
António Ruano (UALG - PT)
Bernardo Cunha (UAveiro - PT)
Carlos Cardeira (IST - PT)
Carlos Carreto (IPG - PT)
Danica Kragic (KTH -SE)
Dimos Dimarogonas (MIT - USA)
Eduardo Silva (ISEP - PT)
Estela Bicho (UMinho - PT)
Fernando Ribeiro (UMinho - PT)
Fernando Lobo Pereira (FEUP - PT)
Filipe Silva (UAveiro - PT)
François Chaumette (IRISA - FR)
Gerhard Kraezschmar (Fh-Bonn-Rhein-Sieg - D)
Gil Lopes (UMinho - PT)
Helder Araújo (UCoimbra - PT)
Huosheng Hu (U. Essex - UK)
João Caldas Pinto (IST - PT)
João Miguel Sousa (IST - PT)
João Sequeira (IST - PT)
Jorge Dias (UCoimbra - PT)
Jorge Ferreira (UAveiro - PT)
José Miguel Almeida (ISEP - PT)
José L. Lima (IPB - PT)
José Sá da Costa (IST - PT)
José Santos-Victor (IST - PT)
J. Felippe Souza (UBI - PT)
José L. Azevedo (UAveiro - PT)
José Tenreiro Machado (ISEP - PT)
Luigi Villani (UNINA - IT)
Luís Almeida (UAveiro - PT)
Luís Paulo Reis (FEUP - PT)
Luís Seabra Lopes (UAveiro - PT)
Maria Isabel Ribeiro (IST - PT)
Nicolás García-Aracil (UMH - ES)
Norberto Pires (UCoimbra - PT)
Paolo Dario (SSSUP - IT)
Paolo Fiorini (UNIVR - IT)
Paulo Costa (FEUP - PT)
Paulo Menezes (UC - PT)
Paulo Oliveira (IST - PT)
Paulo Goncalves (IPCB - PT)
Pedro Lima (IST - PT)
Philippe Martinet (LASMEA - FR)
Roland Siegwart (ETHZ - CH)
Rui Cortesão (UCoimbra - PT)
Toshio Fukuda (UNagoya - JP)
Urbano Nunes (UCoimbra - PT)
Vicente Matellán (ULeon - ES)
Vítor Santos (UAveiro - PT)