Abstract
This paper describes the method employed to track and identify each robot during a Robocup match. Also, the playing ball is tracked with almost no extra processing effort. To track the robots it is necessary the use of adequate markers so that not only the position is extracted but also the heading. We discuss the difficulties associated with this problem, various possible approaches and justify our solution. The identification is performed thanks to a minimalist bar code placed in each robot. The bar code solves the problem of resolving some ambiguities that can arise in certain configurations. The procedure described can be executed in real time as it was shown in Paris in RoboCup-98.

Abstract
Localization is essential to modern autonomous robots in order to enable effective completion of complex tasks over possibly large distances in low structured environments. In this paper, a Extended Kalman Filter is used in order to implement self-localization. This is done by merging odometry and localization information, when available. The used landmarks are colored poles that can be recognized while the robot moves around performing normal tasks. This paper models measurements with very different characteristics in distance and angle to markers and shows results of the self-localization method. Results of simulations and real robot tests are shown.

Abstract
This paper describes the 5dpo-2000 team, The paper will be divided into three main sections, corresponding to three main blocks: the Global Level, the Local Level and the Interface Level. These Levels, their subsystems and some implementation details will be described next.

Abstract
Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.

Abstract
This paper presents a nonlinear model based predictive controller (NMPC) for trajectory tracking of a mobile robot. Methods of numerical optimization to perform real time nonlinear minimization of the cost function are used. The cost function penalizes the robot position error, the robot orientation angle error and the control effort. Experimental results of the trajectories following and the performance of the methods of optimization are presented.

Abstract
Automated Guided Vehicles (AGV) are self-driven vehicles used to transport material between workstations in the shop floor without the help of an operator, although they can also be applied in security and exploration. They are widely used in material handling systems and flexible manufacturing systems, where production orders are constantly changing. Today, and due to the constant development of technology, sophisticated machinery is increasingly available, thus enabling manufacturing firms to achieve significant process and setup time reductions. With this development, enterprises are encouraged to leave mass production approaches and start adopting small productions lot sizes, leading to constant changes in the production operation's sequences as well as changes in the factory layout. As a consequence of the development of technology, products started to spend a big percentage of time in the queue line or being transported from one workstation/storage to another. With the introduction of AGVs production process flexibility may increase, which, in many productions processes, is still below the expectations due to the used transportation system (ex: conveyors). At the same time, with the AGVs it is possible, to decrease transportations times and costs. In this article, we will study by means of simulation, the impact of the use of an AGV transportation based system in an industrial coating application. The AGV will be responsible for transporting the parts from the system's entrance to the workstations. With this, flexibility in the production process will increase, which will be reflected in system's productivity. © 2010 IFAC.