The Workshop of Physical Agents intends to be a forum for information and experience exchange in different areas regarding the concept of embodied agents, especially applied to the control and coordination of autonomous system: robots, mobile robots, industrial processes or…

In Fall 2007, the US Defense Advanced Research Projects Agency (DARPA) held the Urban Challenge, a street race between fully autonomous vehicles. Unlike previous challenges, the Urban Challenge vehicles had to follow the California laws for driving, including properly handling…

The localization of a mobile robot in a real environment is a complex task. In this paper, an algorithm that solves the global localization is presented. The proposal is based on a merit function that ranks different possible poses obtained…

Environments with a low density of landmarks are difficult for vision-based Simultaneous Localization and Mapping (SLAM) algorithms. The use of omnidirectional cameras, which have a wide field of view, is specially interesting in these environments as several landmarks are usually…

Vision devices are today one of the most often used sensory elements in autonomous robots. Some of their hindrances are the difficulty in extracting useful information from the captured images and the small visual field of regular cameras. Visual attention…