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This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target's absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed.

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This paper aims to examine the process of reservoir sedimentation, namely to try to estimate the sediment volume deposited in the main Portuguese reservoirs. The changes in fluvial sediment transport induced by the construction of dams on the major Portuguese rivers are described. Based on the values of dead volumes, the current situation of 166 Portuguese reservoirs is analysed to obtain an order of magnitude of available sediments and pre-select reservoirs that could potentially be integrated into a project for the artificial sand nourishment of beaches. This work was carried out as a starting point in order to implement a national plan for the use of reservoir sediments as an "added value" to the economy, which is as yet generally unexploited. © 2014 Taylor & Francis Group, London.

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