Abstract
In this paper, we propose an algorithm that combine the restriction on motor's velocities and the kinematic model of Omni-Directional mobile robots to improve the trajectory's following. The algorithm verifies the reference velocities of the robot and redefine them if necessary, in order to prevent possible saturation on motor's velocities. Simulation results of the algorithm applied to an omnidirectional mobile robot are presented. Copyright © 2006 IFAC.

Abstract
This paper presents the experimental identification of the model's parameters of an omni-directional mobile robot with four wheels. The parameters related to dynamic equations are the viscous frictions, the coulomb frictions and the inertia moment of the robot. Two methods of parameters identification are described. A simulation environment and simulation results are presented. Copyright © 2006 IFAC.

Abstract
This paper presents a new architecture for coordinating multiple autonomous robots in the execution of cooperative tasks. The architecture is based on the definition of a strategy that uses different tactics, setplays and roles. Roles enable to configure individual behaviour by performing specific tasks using a given set of actions. The proposed architecture allows flexible and efficient multi-robot operation in dynamic environments. The paper also presents an application of the proposed architecture to a complex domain such as middle-size robotic soccer. Our architecture is also generally enough to be applied in different robotic soccer leagues and similar multi-robot problems. Copyright © 2006 IFAC.

Abstract
This paper describes a humanoid robot simulator supporting joint trajectory optimization, following accurately the real robot characteristics. The simulator, based on a rigid body simulator (Open Dynamics Engine) and an OpenGL based graphics librmy (GLScene), provides instant visual feedback and realistic dynamics. It allows to design and test behaviours and control methods without access to the real hardware, preventing damages in the real robot in the earlier stages of development. Having in mind the energy consumption minimization, the low level trajectory planning is discussed and experimental results are presented. The proposed methods arc shown to minimize the total energy assuming two intervals of constant acceleration. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.

Abstract
This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulation and real results of trajectory following are presented.

Abstract
This paper presents the experimental dynamic parameters identification of an omni-directional mobile robot with four wheels. Three methods of parameters identification related to dynamic equations are described, the parameters are the viscous frictions, the coulomb frictions and the inertia moment of the robot. A simulation environment, simulation results and real results are presented.