Publications
Journal Papers
[27] T. Nunes, L. Gaspar, J. N. Faria, D. Portugal, T. Lopes, P. Fernandes, M. Tavakoli, “Deployment and Validation of a Smart Bed Architecture for Untethered Patients with Wireless Biomonitoring Stickers”. Medical & Biological Engineering & Computing, Springer, 2024. (Accepted)
[26] M. Domingues, J. N. Faria, D. Portugal, "Dimensioning Payload Size for Fast Retransmission of MQTT Packets in the wake of Network Disconnections". Journal on Wireless Communications and Networking, 2 (2024), Springer, 2024. [ PDF | DOI ]
[25] A. E. Carvalho, D. Portugal, J. F. Ferreira, "3D Traversability Analysis and Path Planning Based on Mechanical Effort for UGVs in Forest Environments". Robotics and Autonomous Systems (RAS), vol. 171, 104560, Elsevier, 2024. [ PDF | DOI ]
[24] J. F. Ferreira, D. Portugal, M. E. Andrada, P. Machado, R. P. Rocha, P. Peixoto, "Sensing and Artificial Perception for Robots in Precision Forestry – a Survey". Robotics, Special Issue on Robotics and AI for Precision Agriculture, 12 (5): 139, 2023. [ PDF | DOI ]
[23] M. P. Cristóvão, D. Portugal, A. E. Carvalho, J. F. Ferreira,"A LiDAR-Camera-Inertial-GNSS Apparatus for 3D Multimodal Dataset Collection in Woodland Scenarios". Sensors, Special Issue on Mobile Robots: Navigation, Control and Sensing, 23 (15): 6676, 2023. [ PDF | DOI ]
[22] D. Portugal, J. N. Faria, M. Belk, P. Martins, A. Constantinides, A. Pietron, A. Pitsillides, N. Avouris, C. A. Fidas, "Continuous User Identification in Distance Learning: A Recent Technology Perspective". Smart Learning Environments, 10 (1): 38, Springer, 2023. [ PDF | DOI ]
[21] P. T. Karfakis, M. S. Couceiro, D. Portugal, "NR5G-SAM: A SLAM Framework for Field Robot Applications based on 5G New Radio". Sensors, Special Issue on Sensor Based Perception for Field Robotics, 23 (11): 5354, 2023. [ PDF | DOI ]
[20] C. A. Fidas, M. Belk, A. Constantinides, D. Portugal, P. Martins, A. M. Pietron, A. Pitsillides, N. Avouris, "Ensuring Academic Integrity and Trust in Online Learning Environments: A Longitudinal Study of an AI-centered Proctoring System in Tertiary Educational Institutions". Education Sciences, Special Issue on New Media and Technology in Education, 13 (6): 566, 2023. [ PDF | DOI ]
[19] L. Esteves, D. Portugal, P. Peixoto, G. Falcao "Towards Mobile Federated Learning with Unreliable Participants and Selective Aggregation". Applied Sciences, Special Issue on Federated and Transfer Learning Applications, 13 (5): 3135, 2023. [ PDF | DOI ]
[18] F. Famá, J. N. Faria, D. Portugal, "An IoT-based Interoperable Architecture for Wireless Biomonitoring of Patients with Sensor Patches". In Internet of Things, Elsevier, vol. 19, 100547, 2022. [ PDF | DOI ]
[17] D. Portugal, A. Araújo, M. S. Couceiro, "Improving the Robustness of a Service Robot for Continuous Indoor Monitoring: An Incremental Approach". In International Journal of Advanced Robotic Systems, 18 (3), pp. 1-15, SAGE, 2021. [ PDF | DOI ]
[16] M. S. Couceiro, D. Portugal, R.P. Rocha, A. Araújo, "Fostering Human-Robot Cooperative Architectures for Search and Rescue Missions in Urban Fires". Simulation: Transactions of the Society for Modeling and Simulation International, 97 (3), pp. 177-194, SAGE, 2020. [ PDF | DOI ]
[15] D. Portugal, P. Alvito, E. Christodoulou, G. Samaras and J. Dias, "A Study on the Deployment of a Service Robot in an Elderly Care Center". International Journal of Social Robotics, 11 (2), pp. 317-341, Springer, 2019. [ PDF | DOI ]
[14] N. M. F. Ferreira, A. Araújo, M. S. Couceiro, D. Portugal, "Intensive summer course in robotics – Robotcraft", Applied Computing and Informatics, 16 (1/2), pp. 155-179, Elsevier, 2018. [ PDF | DOI ]
[13] D. Portugal and R. P. Rocha, "Performance Estimation and Dimensioning of Team Size for Multi-Robot Patrol”. IEEE Intelligent Systems, 32 (6), pp. 30-38, November-December 2017. [ PDF | DOI | IEEE News ]
[12] D. Portugal and R. P. Rocha, "Cooperative Multi-Robot Patrol with Bayesian Learning”. Autonomous Robots, 40 (5), pp. 929-953, Springer, June 2016. [ PDF | DOI ]
[11] A. Fernandes, M. S. Couceiro, D. Portugal, J. Machado Santos and R.P. Rocha, “Ad Hoc Communication in Teams of Mobile Robots Using ZigBee Technology”. Computer Applications in Engineering Education, 23 (5), pp. 733-745, September 2015. [ PDF | DOI ]
[10] D. Portugal, G. Cabrita, B.D. Gouveia, D.S. Santos and J.A. Prado, “An Autonomous All Terrain Robotic System for Field Demining Missions”. Robotics and Autonomous Systems (RAS), 70 (8), pp. 126-144, Elsevier, August 2015. [ PDF | DOI ]
[9] J. Machado Santos, M. S. Couceiro, D. Portugal and R. P. Rocha, "A Sensor Fusion Layer to Cope with Reduced Visibility in SLAM". Journal of Intelligent and Robotic Systems (JINT), Special Issue on Autonomous Robot Systems, 80 (3), pp. 401-422, Springer, December 2015. [ PDF | DOI ]
[8] B. D. Gouveia, D. Portugal, D.C. Silva and L. Marques, "Computation Sharing in Distributed Robotic Systems: a Case Study on SLAM”. IEEE Transactions on Automation Science and Engineering, Special Issue on Cloud Robotics and Automation, 12 (2), pp. 410-422, April 2015. [ PDF | DOI ]
[7] A. Araújo, D. Portugal, M. S. Couceiro, R. P. Rocha, "Integrating Arduino-based Educational Mobile Robots in ROS". Journal of Intelligent and Robotic Systems (JINT), Special Issue on Autonomous Robot Systems, 77 (2), pp. 281-298, Springer, February 2015. [ PDF | DOI ]
[6] R. Madhavan, L. Marques, E. Prestes, P. Dasgupta, G. Cabrita, D. Portugal, B. D. Gouveia, V. Jorge, R. Maffei, G. Franco, and J. Garcia, "2014 Humanitarian Robotics and Automation Technology Challenge (HRATC’14)". IEEE Robotics & Automation Magazine, 21 (3), pp. 10-16, IEEE, September 2014. [ PDF | DOI ]
[5] M. S. Couceiro, D. Portugal, R. P. Rocha and N. M. F. Ferreira, "Marsupial Teams of Robots: Deployment of Miniature Robots for Swarm Exploration under Communication Constraints". Robotica, 32 (7), pp. 1017-1038, Cambridge University Press, October 2014. [ PDF | DOI ]
[4] A. Araújo, D. Portugal, M. S. Couceiro, J. Sales, R. P. Rocha, "Desarrollo de un robot móvil compacto integrado en el middleware ROS". Revista Iberoamericana de Automática e Informática Industrial (RIAI), 11 (3), pp. 315-326, Elsevier, July-September 2014. [ PDF | DOI ]
[3] D. Portugal and R. P. Rocha, “Distributed Multi-Robot Patrol: A Scalable and Fault-Tolerant Framework”. Robotics and Autonomous Systems (RAS), 61 (12), pp. 1572-1587, Elsevier, December 2013. [ PDF | DOI ]
[2] D. Portugal and R. P. Rocha, “Multi-Robot Patrolling Algorithms: Examining Performance and Scalability”. Advanced Robotics Journal, Special Issue on Safety, Security, and Rescue Robotics, 27 (5), pp. 325-336, Taylor & Francis, March 2013. [ PDF | DOI ]
[1] M. S. Couceiro, D. Portugal, N. Gonçalves, R. P. Rocha, J. M. Luz, C. M. Figueiredo and G. Dias, "A Methodology for Detection and Estimation in the Analysis of the Golf Putting". Journal of Pattern Analysis and Applications (PAA), 16 (3), pp. 459-474, Springer, August 2013. [ PDF | DOI ]
Book Chapters
[17] D. Portugal, M.E. Andrada, A. G. Araújo, M. S. Couceiro, J. F. Ferreira, “ROS Integration of an Instrumented Bobcat T190 for the SEMFIRE project”. In Robot Operating System - The Complete Reference (Vol. 6), Studies In Computational Intelligence, Springer 2021. [ PDF | DOI ]
[16] P. Machado, J. Bonnell, S. Brandenbourg, J. F. Ferreira, D. Portugal, M. S. Couceiro, “Robotics Use Case Scenarios”. In Towards Ubiquitous Low-power Image Processing Platforms (TULIPP), M. Jahre, D. Göhringer and P. Millet (Editors), Springer 2020. [ PDF | DOI ]
[15] G. Martins, D. Portugal, R. P. Rocha, “mrgs: a Multi-Robot SLAM framework for ROS with Efficient Information Sharing”. In Robot Operating System - The Complete Reference (Vol. 5), Studies In Computational Intelligence, Springer 2020. [ PDF | DOI ]
[14] D. Portugal, A. Araújo, M. S. Couceiro, “A Guide for 3D Mapping with Low-Cost Sensors using ROS”. In Robot Operating System - The Complete Reference (Vol. 4), Studies In Computational Intelligence, Vol. 831, pp. 3-23, Springer 2019. [ PDF | DOI ]
[13] D. Portugal, M. A. Santos, S. Pereira, M. S. Couceiro, “On the Security of Robotic Applications using ROS”. In Artificial Intelligence Safety and Security, Artificial Intelligence and Robotics Series, pp. 273-289, CRC Press, Taylor & Francis, 2018. [ PDF | DOI ]
[12] D. Portugal, L. Iocchi, A. Farinelli, “A ROS-based framework for simulation and benchmarking of multi-robot patrolling algorithms”. In Robot Operating System - The Complete Reference (Vol.3), Studies In Computational Intelligence, Vol. 778, pp. 3-28, Springer 2018. [ PDF | DOI ]
[11] M. S. Couceiro and D. Portugal, “Swarming in Forestry Environments: Collective Exploration and Network Deployment”. In Swarm Intelligence, Vol 1: Principles, Current Algorithms and Methods, pp. 323-344, IET, 2018. [ PDF | DOI ]
[10] D. Portugal, M. Belk, J. Quintas, E. Christodoulou and G. Samaras, “Identification of an Individual's Frustration in the Work Environment through a Multi-Sensor Computer Mouse”. In Human Aspects of IT for the Aged Population. Healthy and Active Aging: Second International Conference, ITAP 2016, Held as Part of HCI International 2016 Toronto, ON, Canada, July 17–22, 2016. Proceedings, Part II. Lecture Notes in Computer Science Series, Vol. 9755, pp. 79-88, Springer, 2016. [ PDF | DOI ]
[9] S. Hanke, H. Meinedo, D. Portugal, M. Belk, J. Quintas, E. Christodoulou, M. Sili, M. Sales Dias and G. Samaras, “CogniWin - A Virtual Assistance System for Older Adults at Work”. In Human Aspects of IT for the Aged Population. Design for Everyday Life: First International Conference, ITAP 2015, Held as Part of HCI International 2015, Los Angeles, CA, USA, August 2-7, 2015. Proceedings, Part II. Lecture Notes in Computer Science Series, Vol. 9194, pp. 257-268, Springer, 2015. [ PDF | DOI ]
[8] G. Martins, D. Portugal and R.P. Rocha, “On the Usage of General-Purpose Compression Techniques for the Optimization of Inter-Robot Communication”. In Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering (LNEE) series, Vol. 370, pp. 223-240, Springer-Verlag, 2015. [ PDF | DOI ]
[7] D. Portugal, B. D. Gouveia and L. Marques, “A Distributed and Multithreaded SLAM Architecture for Robotic Clusters and Wireless Sensor Networks”. In Cooperative Robots and Sensor Networks 2015, 3rd Edition, Studies in Computational Intelligence, Vol. 604, pp. 121-141, Springer, 2015. [ PDF | DOI ]
[6] D. Portugal and R.P. Rocha, "Cooperative Multi-Robot Patrol in an Indoor Infrastructure". In Human Behavior Understanding in Networked Sensing, Theory and Applications of Networks of Sensors, pp. 339-358, Springer International Publishing, 2014. [ PDF | DOI ]
[5] D. Portugal, L. Marques and M. Armada, "Deploying Field Robots for Humanitarian Demining: Challenges, Requirements and Research Trends". In Mobile Service Robotics: 17th International Conference on Climbing and Walking Robots (CLAWAR 2014) and the Support Technologies for Mobile Machines, World Scientific Publishing, pp. 649-656, 2014. [ PDF | DOI ]
[4] D. Portugal and R. P. Rocha, “Retrieving Topological Information for Mobile Robots Provided with Grid Maps”. In Agents and Artificial Intelligence, Communications in Computer and Information Science (CCIS) series, Vol. 358, pp. 204–217, Springer-Verlag Berlin Heidelberg, 2013. [ PDF | DOI ]
[3] J. M. Luz, M. S. Couceiro, D. Portugal, R. P. Rocha, H. Araújo and G. Dias. “Comparison of Classification Methods for Golf Putting Performance Analysis”. In Computational Intelligence and Decision Making - Trends and Applications, From Intelligent Systems, Control and Automation: Science and Engineering Bookseries, Vol. 61, Springer-Verlag, 2013. [ PDF | DOI ]
[2] D. Portugal and R. P. Rocha, "Measuring Variables Effect to Statistically Model the Multi-Robot Patrolling Problem by means of ANOVA". In Technological Innovation for Value Creation, IFIP Advances in Information and Communication Technology series, Vol. 372, pp. 199-206, Springer Berlin Heidelberg, 2012. [ PDF | DOI ]
[1] D. Portugal and R. Rocha, "A Survey on Multi-Robot Patrolling Algorithms". In Technological Innovation for Sustainability, IFIP Advances in Information and Communication Technology series, Vol. 349, pp. 139-146, Springer Berlin Heidelberg, 2011. [ PDF | DOI ]
Conference Papers
[53] J. N. Faria, D. Portugal, P. Martins, M. Belk, A. Constantinides, A. Pitsillides, C. A. Fidas, "Image-based Face Verification for Student Identity Management — the TRUSTID Case Study", In Adjunct Proceedings of the 31st ACM Conference on User Modeling, Adaptation and Personalization (UMAP 2023), Late-Breaking Results Paper, Limassol, Cyprus, June 26-29, 2023. [ PDF | DOI ]
[52] A. Constantinides, J. N. Faria, T. Sousak, P. Martins, D. Portugal, M. Belk, A. Pitsillides, C. Fidas, "TRUSTID: Intelligent and Continuous Online Student Identity Management in Higher Education", In Adjunct Proceedings of the 31st ACM Conference on User Modeling, Adaptation and Personalization (UMAP 2023), Demo Paper, Limassol, Cyprus, June 26-29, 2023. [ PDF | DOI ]
[51] D. Portugal, J. N. Faria, M. Domingues, L. Gaspar, "Integration of a Smart Bed Infrastructure with Hospital Information Systems using Fast Health Interoperability Resources". In Proc. of the IEEE Consumer Communications & Networking Conference (CCNC 2023), 2nd International Workshop on IoT Interoperability and the Web of Things (IIWOT'23), Las Vegas, USA, January 2023. [ PDF | DOI ]
[50] P. T. Karfakis, M. S. Couceiro, D. Portugal, R. Cortesão, "UWB Aided Mobile Robot Localization with Neural Networks and the EKF". In Proc. of the 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2022), Prague, Czech Republic, October 9-12, 2022. [ PDF | DOI ]
[49] T. Sousak, A. Constantinides, J. N. Faria, A. Pietron, P. Martins, D. Portugal, M. Belk, A. Pitsillides, C. Fidas, "Towards Intelligent and Continuous Online Student Identity Management". Invited Talk at UMAP ’22: 30th ACM Conference on User Modeling, Adaptation and Personalization, Workshop on Adaptive and Personalized Privacy and Security (APPS), Barcelona, Spain, July 04–07, 2022. [ PDF ]
[48] M. E. Andrada, J. F. Ferreira, G. Kantor, D. Portugal, C. H. Antunes, "Model Pruning in Depth Completion CNNs for Forestry Robotics with Simulated Annealing". In Proc. of the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), Workshop on Innovation in Forestry Robotics: Research and Industry Adoption (IFRRIA 2022), Philadelphia (PA), USA, May 23-27, 2022. [ PDF | Video ]
[47] D. Bittner, J. F. Ferreira, M. E. Andrada, J. J. Bird, D. Portugal, "Generating Synthetic Multispectral Images for Semantic Segmentation in Forestry Applications". In Proc. of the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), Workshop on Innovation in Forestry Robotics: Research and Industry Adoption (IFRRIA 2022), Philadelphia (PA), USA, May 23-27, 2022. [ PDF | Video ]
[46] P. T. Karfakis, M. S. Couceiro, D. Portugal, C.H. Antunes, "A Comparative Study of Mobile Robot Positioning Using 5G NR". In Proc. of the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), Workshop on Innovation in Forestry Robotics: Research and Industry Adoption (IFRRIA 2022), Philadelphia (PA), USA, May 23-27, 2022. [ PDF ]
[45] A. E. Carvalho, J. F. Ferreira, D. Portugal, "3D Traversability Analysis in Forest Environments based on Mechanical Effort". In Proc. of the 17th International Conference on Intelligent Autonomous Systems (IAS), June 13–16, 2022, Zagreb, Croatia. [ PDF | DOI ]
[44] M. E. Andrada, J. F. Ferreira, D. Portugal, M. Couceiro "Integration of an Artificial Perception System for Identification of Live Flammable Material in Forestry Robotics". In Proc. of the IEEE/SICE International Symposium on System Integration (SII 2022), Narvik, Norway, Jan. 9-12, 2022. [ PDF | Presentation Video | Results Video | DOI ]
[43] C. Fidas, M. Belk, D. Portugal, A. Pitsillides, “Privacy-preserving Biometric-driven Data for Student Identity Management: Challenges and Approaches”, In Adjunct Proceedings of the 29th ACM Conference on User Modeling, Adaptation and Personalization (UMAP 2021), pp. 368-370, Utrecht, the Netherlands, June 21-25, 2021. [ PDF | DOI ]
[42] D. Portugal, A. Araújo, M. S. Couceiro, “A Reliable Localization Architecture for Mobile Surveillance Robots”, In Proc. of the 18th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2020), Abu Dhabi, November 4-6, 2020. [ PDF | Video | DOI ]
[41] M. E. Andrada, J. F. Ferreira, D. Portugal, M. Couceiro "Testing Different CNN Architectures for Semantic Segmentation for Landscaping with Forestry Robotics". In Proc. of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Workshop on Perception, Planning and Mobility in Forestry Robotics (WPPMFR 2020), Las Vegas, NV, USA, Oct 25-29, 2020. [ PDF | Video ]
[40] D. Lourenço, J. F. Ferreira, D. Portugal, "3D Local Planning for a Forestry UGV based on Terrain Gradient and Mechanical Effort ". In Proc. of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Workshop on Perception, Planning and Mobility in Forestry Robotics (WPPMFR 2020), Las Vegas, NV, USA, Oct 25-29, 2020. [ PDF | Video ]
[39] D. Portugal, J. F. Ferreira, M. S. Couceiro, "Requirements Specification and Integration Architecture for Perception in a Cooperative Team of Forestry Robots". In Proc. of Towards Autonomous Robotic Systems 2020 (TAROS 2020), University of Nottingham, Nottingham, UK, July. 22-24, 2020. [ PDF | DOI ]
[38] G. S. Martins, J. F. Ferreira, D. Portugal, M. S. Couceiro, "MoDSeM: Towards Semantic Mapping with Distributed Robots". In Proc. of Towards Autonomous Robotic Systems 2019 (TAROS 2019), Queen Mary University of London, UK, July. 3-5, 2019. [ PDF | DOI ]
[37] G. S. Martins, J. F. Ferreira, D. Portugal, M. S. Couceiro, "MoDSeM: Modular Framework for Distributed Semantic Mapping". In Proc. of the 2nd UK-RAS Conference on Embedded Intelligence (UK-RAS19), pp. 12-15, Loughborough, Jan. 24, 2019. [ PDF | DOI ]
[36] M. Couceiro, D. Portugal, J. F. Ferreira, R. P. Rocha, "SEMFIRE: Towards a new generation of forestry maintenance multi-robot systems". In Proc. of the IEEE/SICE International Symposium on System Integration (SII 2019), pp. 270-276, Paris, France, Jan. 14-16, 2019. [ PDF | DOI ]
[35] M. S. Mukhandi, D. Portugal, S. Pereira, M. Couceiro, "A novel solution for securing robot communications based on the MQTT protocol and ROS". In Proc. of the IEEE/SICE International Symposium on System Integration (SII 2019), pp. 608-613, Paris, France, Jan. 14-16, 2019. [ PDF | DOI ]
[34] F. Majer, L. Halodová, T. Vintr, M. Dlouhý, L. Merenda, J. P. Fentantes, D. Portugal, M. Couceiro, T. Krajník, "A Versatile Visual Navigation System for Outdoor Autonomous Vehicles". In Proc. of Modelling & Simulation for Autonomous Systems (MESAS 2018), pp. 90-110, Prague, Czech Republic, October 17-19, 2018. [ PDF | DOI ]
[33] K. Tatarian, S. Pereira, M. S. Couceiro, D. Portugal, "Tailoring a ROS Educational Programming Language Architecture". In Proc. of the International Conference on Robotics in Education 2018 (RiE 2018), pp. 217-229, Malta, April 18-20, 2018. [ PDF | DOI ]
[32] N. M. Fonseca Ferreira, A. Araújo, M. S. Couceiro, D. Portugal, "The Potential of a Robotics Summer Course on Engineering Education". In Teaching Robotics with ROS, Workshop at the European Robotics Forum 2018 (ERF 2018), Tampere, Finland, March 13-15, 2018. [ PDF ]
[31] F. M. Noori, D. Portugal, R. P. Rocha and M. S. Couceiro, "On 3D Simulators for Multi-Robot Systems in ROS: MORSE or Gazebo?". In Proc. of the 15th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2017), pp. 19-24, Shanghai, China, Oct 11-13, 2017. [ PDF | DOI ]
[30] D. Portugal, S. Pereira and M. S. Couceiro, "The Role of Security in Human-Robot Shared Environments: A Case Study in ROS-based Surveillance Robots". In Proc. of the 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2017), pp. 981-986, Lisbon, Portugal, Aug 28 - Sep.1, 2017. [ PDF | DOI ]
[29] M. Belk, D. Portugal, P. Germanakos, J. Quintas, E. Christodoulou and G. Samaras, "A Computer Mouse for Stress Identification of Older Adults at Work". In Proc. of the ACM International Conference on User Modeling, Adaptation and Personalization (UMAP 2016), Workshop on Human Aspects in Adaptive and Personalized Interactive Environments (HAAPIE 2016), Halifax, Canada, July 13-16, 2016. [ PDF | DOI ]
[28] D. Portugal, M. Belk, S. Hanke, M. Müllner-Rieder, M. Sales Dias, J. Quintas, C. Glauser, E. Christodoulou, G. Samaras, M. Snene and D. Konstantas, "CogniWin: An Integrated Framework to Support Older Adults at Work". In Proc. of the ACM International Conference on User Modeling, Adaptation and Personalization (UMAP 2016), Poster, Demo and Late Breaking Results, Halifax, Canada, July 13-16, 2016. [ PDF | DOI ]
[27] D. Portugal, L. Santos, P. Alvito, J. Dias, G. Samaras and E. Christodoulou, "SocialRobot: An Interactive Mobile Robot for Elderly Home Care". In Proc. of the IEEE/SICE International Symposium on System Integration (SII 2015), Nagoya, Japan, December 11-13, 2015. [ PDF | DOI ]
[26] D. Portugal, P. Trindade, E. Christodoulou, G. Samaras and J. Dias, “On the Development of a Service Robot for Social Interaction with the Elderly”. In Proc. of the IEEE/IET International Conference on Technologies for Active and Assisted Living (TechAAL 2015), Kingston, London, UK, November 5, 2015. [ PDF | DOI | Video ]
[25] M. Belk, D. Portugal, E. Christodoulou, G. Samaras, "CogniMouse: On Detecting Users' Task Completion Difficulty through Computer Mouse Interaction". In Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems - Extended Abstracts (CHI EA'15), ACM Press, pp. 1019-1024, South Korea, April 18-23, 2015. [ PDF | DOI ]
[24] L. Santos, D. Portugal, E. Christodoulou, G. Samaras, P. Alvito, J. Dias, "Personalizable ICT-based Service Provision: The SocialRobot Solution". In AmI 2014 International Workshop on Intelligent Environments Supporting Healthcare and Well-being (WISHWell'14), Eindhoven, The Netherlands, November 11, 2014. [ PDF ]
[23] G. S. Martins, D. Portugal and R. P. Rocha, “A Comparison of General-Purpose FOSS Compression Techniques for Efficient Communication in Cooperative Multi-Robot Tasks”. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), Vienna, Austria, Sep. 1-3, 2014. [ PDF | DOI ]
[22] F. F. Sales, D. Portugal and R. P. Rocha, “Real-Time People Detection and Mapping System for a Mobile Robot using a RGB-D sensor”. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2014), Vienna, Austria, Sep. 1-3, 2014. [ PDF | DOI ]
[21] B. D. Gouveia, D. Portugal and L. Marques, "Speeding Up Rao-Blackwellized Particle Filter SLAM with a Multithreaded Architecture". In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA, Sep. 14-18, 2014. [ PDF | DOI ]
[20] D. Portugal, C. Pippin, R. P. Rocha and H. Christensen, "Finding Optimal Routes for Multi-Robot Patrolling in Generic Graphs". In Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, USA, Sep. 14-18, 2014. [ PDF | DOI ]
[19] J.Machado Santos, M. Couceiro, D. Portugal and R. P. Rocha, "Fusing Sonars and LRF data to Perform SLAM in Reduced Visibility Scenarios". In Proceedings of the IEEE 14th International Conference on Autonomous Robot Systems and Competitions (ICARSC 2014), Espinho, Portugal, May 14-15, 2014. [ PDF | DOI ]
[18] D. Portugal, G. Cabrita, J. A. Prado, B. D. Gouveia and L. Marques, "FSR Backpack: A Wearable Device to Improve Humanitarian Demining Operations". In Proceedings of the 11th International Symposium "Mine Action 2014", IARP Workshop on Robotics for Humanitarian Demining (HUDEM 2014), Apr 23-25, Zadar, Croatia, 2014. [ PDF ]
[17] D. Portugal, M. S. Couceiro and R. P. Rocha, "Applying Bayesian Learning to Multi-Robot Patrol". In Proceedings of the 2013 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2013), Linköping, Sweden, Oct 21-26, 2013. [ PDF | DOI ]
[16] J. Machado Santos, D. Portugal and R. P. Rocha, "An Evaluation of 2D SLAM Techniques Available in Robot Operating System". In Proceedings of the 2013 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2013), Linköping, Sweden, Oct 21-26, 2013. [ PDF | DOI ]
[15] R. P. Rocha, D. Portugal, M. Couceiro, F. Araújo, P. Menezes and J. Lobo, "The CHOPIN project: Cooperation between Human and rObotic teams in catastroPhic INcidents". In Proceedings of the 2013 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR 2013), Linköping, Sweden, Oct 21-26, 2013. [ PDF | DOI ]
[14] D. Portugal and R. P. Rocha, "Scalable, Fault-Tolerant and Distributed Multi-Robot Patrol in Real World Environments". In Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, Nov. 3-7, 2013. [ PDF | DOI ]
[13] D. Portugal, M. Couceiro and R. P. Rocha, "Concurrent Bayesian Learners for Multi-Robot Patrolling Missions". In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Workshop on Towards Fully Decentralized Multi-Robot Systems: Hardware, Software and Integration, Karlsruhe, Germany, May 6-10, 2013. [ PDF ]
[12] A. Araújo, D. Portugal, M. S. Couceiro and R. P. Rocha, "Integrating Arduino-based Educational Mobile Robots in ROS". In Proceedings of the 13th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2013), pp. 8-13, Lisbon, Portugal, April 25-29, 2013. [ PDF | DOI ]
[11] M. S. Couceiro, D. Portugal and R. P. Rocha, "A Collective Robotic Architecture in Search and Rescue Scenarios". In Proceedings of the 28th ACM Symposium on Applied Computing (SAC 2013), Special Track on Cooperative Multi-Agent Systems and Applications, pp. 64-69, Coimbra, Portugal, March 18-22, 2013. [ PDF | DOI ]
[10] D. Portugal and R. P. Rocha, "Decision Methods for Distributed Multi-Robot Patrol". In Proceedings of the 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2012), College Station, Texas, USA, November 5-8, 2012. [ PDF | DOI ]
[9] M. S. Couceiro, C. M. Figueiredo, D. Portugal, R. P. Rocha, N. M. Ferreira, "Initial Deployment of a Robotic Team - A Hierarchical Approach Under Communication Constraints Verified on Low-Cost Platforms". In Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), pp. 4614-4619, Vilamoura, Algarve, October 7-12, 2012. [ PDF | DOI ]
[8] A. Araújo, D. Portugal, M. S. Couceiro, C. M. Figueiredo and R. P. Rocha, "Small and Compact Mobile Robots: Surveying and Comparing Platforms". In Proceedings of the Automatics International Conference (AUTOMATICS 2012), pp. 349-358, Sozopol, Bulgaria, June 1-4, 2012. [ PDF ]
[7] A. Araújo, D. Portugal, M. S. Couceiro, C. M. Figueiredo and R. P. Rocha, "TraxBot: Assembling and Programming of a Mobile Robotic Platform". In Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012), pp. 301-304, Vilamoura, Algarve, Portugal, February 6-8, 2012. [ PDF | DOI ]
[6] D. Portugal and R. P. Rocha, "Extracting Topological Information from Grid Maps for Robot Navigation". In Proceedings of the 4th International Conference on Agents and Artificial Intelligence (ICAART 2012), pp. 137-143, Vilamoura, Algarve, Portugal, February 6-8, 2012. [ PDF | DOI ]
[5] D. Portugal and R. P. Rocha, "On the Performance and Scalability of Multi-Robot Patrolling Algorithms". In Proceedings of the 2011 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2011), pp. 50-55, Kyoto, Japan, November 1-5, 2011. *Winner of the Young Author's Award* [ PDF | DOI ]
[4] J. M. Luz, M. S. Couceiro, D. Portugal, R. P. Rocha, H. Araújo and G. Dias, "Comparison of Classification Methods for Golf Putting Performance Analysis". In Proceedings of the International Symposium on Computational Intelligence for Engineering Systems (ISCIES 2011), Coimbra, Portugal, November 16-18, 2011. [ PDF ]
[3] D. Portugal and R. P. Rocha, "Partitioning Generic Graphs into k Balanced Subgraphs". In Proceedings of the 6th Iberian Congress On Numerical Methods in Engineering (CMNE 2011), Coimbra, Portugal, June 14-17, 2011. [ PDF ]
[2] D. Portugal, C. Henggeler Antunes and R. Rocha, "A Study of Genetic Algorithms for Approximating the Longest Path in Generic Graphs". In Proceedings of the 2010 IEEE International Conference on Systems, Man and Cybernetics (SMC 2010), pp. 2539-2544, Istanbul, Turkey, October 10-13, 2010. [ PDF | DOI ]
[1] D. Portugal and R. Rocha, "MSP Algorithm: Multi-Robot Patrolling based on Territory Allocation using Balanced Graph Partitioning". In Proceedings of 25th ACM Symposium on Applied Computing (SAC 2010), Special Track on Intelligent Robotic Systems, pp. 1271-1276, Sierre, Switzerland, March 22-26, 2010. [ PDF | DOI ]
Datasets
[3] M. Cristóvão, A. E. Carvalho, M. E. Andrada, D. Portugal, J. F. Ferreira, "FRUC multiple sensor forest dataset including absolute, map-referenced localization". Institute of Systems and Robotics of the University of Coimbra, March 2023. [ DOI ]
[2] F. Carvalho, M. Maranha, D. Portugal, M. Tavakoli, "WoW - Wearable Respiration Monitoring Dataset". Institute of Systems and Robotics of the University of Coimbra, March 2022. [ DOI ]
[1] D. Bittner, M. E. Andrada, D. Portugal, J. F. Ferreira, "SEMFIRE forest dataset for semantic segmentation and data augmentation". University of Coimbra, Portugal, December, 2021. [ DOI ]
Thesis and Dissertations
[3] D. Portugal, "Effective Cooperation and Scalability in Mobile Robot Teams for Automatic Patrolling of Infrastructures”. Ph.D. Thesis, Faculty of Science and Technology, University of Coimbra, Portugal, September, 2013. [ PDF ]
[2] D. Portugal, "Effective Cooperation and Scalability in Multi-Robot Teams for Automatic Patrolling and Inspection of Infrastructures". Ph.D. Thesis Project (Ph.D. Work Plan), Faculty of Science and Technology, University of Coimbra, Portugal, July, 2010. [ PDF ]
[1] D. Portugal, "RoboCops: A Study of Coordination Algorithms for Autonomous Mobile Robots in Patrolling Missions". Master of Science Dissertation, Faculty of Science and Technology, University of Coimbra, Portugal, September, 2009. [ PDF ]
Posters
[32] D. Cruz, D. Portugal, P. Peixoto, "Waypoint Navigation for a Quadruped Robot in IrregularOutdoor Terrains", MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2024 [ PDF ]
[31] P. Tomás, P. Peixoto, D. Portugal, "Forest Mapping Based on 3D LiDAR", MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2024 [ PDF ]
[30] A. R. Leite, D. Portugal, P. Peixoto, "UAV-Based Multispectral Imaging for Forest Management", MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2024 [ PDF ]
[29] L. S. Gaspar, D. Portugal, R. P. Rocha, "Graph3DSLAM – 3D SLAM based on Graph Optimization", MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2024 [ PDF ]
[28] M. P. Cristóvão, J. N. Faria, R. Carvalho, D. Portugal, "Improving Outdoor Multimodal Data Acquisition: Leveraging Steam Deck for Real-Time Mapping and Visualization", Workshop on Robotics in Agriculture and Forestry (AGRIWS), 11th European Conference on Mobile Robots (ECMR 2023), Coimbra, Portugal, September 4, 2023 [ PDF | Video ]
[27] A. E. Carvalho, D. Portugal, J. F. Ferreira, "Applying Mechanical-Effort-Based Traversability Analysis (MEBT) on a Forest Dataset: A User Study", Workshop on Robotics in Agriculture and Forestry (AGRIWS), 11th European Conference on Mobile Robots (ECMR 2023), Coimbra, Portugal, September 4, 2023 [ PDF | Video ]
[26] M. E. Andrada, D. Portugal, G. Kantor. P. Peixoto, J. F. Ferreira "Artificial Perception Framework for Scene Understanding in Forestry Robotics", 2nd ISR Open Day, Institute of Systems and Robotics of the University of Coimbra, Portugal, July 20, 2023 [ PDF ]
[25] M. P. Cristóvão, D. Portugal, G. Kantor "A Robust and Adaptable Multisensory Localization Framework for Forestry Robotics", 2nd ISR Open Day, Institute of Systems and Robotics of the University of Coimbra, Portugal, July 20, 2023 [ PDF ]
[24] P. T. Karfakis, M. S. Couceiro, D. Portugal, "NR5G-SAM: A SLAM Framework for Field Robot Applications Based on 5G New Radio", Poster Presented at the International Federation for Information Processing (IFIP) Networking 2023 Conference (NETWORKING 2023), Barcelona, Spain, June 12-15, 2023. [ PDF ]
[23] J. N. Faria, D. Portugal, P. Martins, M. Belk, A. Constantinides, A. Pitsillides, C. A. Fidas, "Image-based Face Verification for Student Identity Management — the TRUSTID Case Study". Poster presented at the 31st ACM Conference on User Modeling, Adaptation and Personalization (UMAP 2023), Limassol, Cyprus, June 26-29, 2023. [ PDF ]
[22] A. Ribeiro, J. N. Faria, D. Portugal, M. Tavakoli, "Securing the BLE Transmission of Vital Signs in Wireless Patient Biomonitoring", MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2023 (in Portuguese) [ PDF ]
[21] L. C. Gaspar, J. N. Faria, D. Portugal, M. Tavakoli, "Implementation of an IoT Architecture for Remote Monitoring of Patients in Smart Beds", MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2023 [ PDF ]
[20] A.E. Carvalho, G. Kantor, D. Portugal, "Efficient Large Scale Mapping and Path Planning in Forest Environments", 1st ISR Open Day, Institute of Systems and Robotics of the University of Coimbra, Portugal, July 19, 2022 [ PDF ]
[19] M. E. Andrada, G. Kantor, J.F. Ferreira, D. Portugal, "Artificial Perception Framework for Scene Understanding in Forestry Robotics", 1st ISR Open Day, Institute of Systems and Robotics of the University of Coimbra, Portugal, July 19, 2022 [ PDF ]
[18] P. T. Karfakis, M. S. Couceiro, D. Portugal, "Cooperative and Multimodal Localization of 5G-enabled Multi Robot Systems", PhD. Thesis Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, June, 2022 [ PDF ]
[17] F. Famá, C. Majidi, D. Portugal, "A Smart Gateway on the Edge for Heart Disease Condition Classification and Patient Status Monitoring", PhD. Thesis Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, June, 2022 [ PDF ]
[16] P. T. Karfakis, M. S. Couceiro, D. Portugal, C.H. Antunes, "A Comparative Study of Mobile Robot Positioning Using 5G NR". Poster Presented at the Workshop on Innovation in Forestry Robotics: Research and Industry Adoption (IFRRIA 2022) at the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia (PA), USA, May 23-27, 2022. [ PDF ]
[15] J. P. Castilho, D. Portugal, R. P. Rocha, "ROS 2.0 - Study and Evaluation of ROS 2 in comparison with ROS 1". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2022. [ PDF ]
[14] J. Jorge, D. Portugal, R. P. Rocha, "EXAMINER II - 3D Multi Robot Exploration in Irregular Terrains". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2022. [ PDF ]
[13] M. Domingues, J. N. Faria, F. Famá, D. Portugal, "Interoperable and Secure IoT Architecture for Digital Healthcare: Wireless Monitoring of Untethered Patients in Smart Beds". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2022. [ PDF ]
[12] D. Almeida, F. Famá, D. Portugal, "Multimodal Sensor Fusion for Wireless Monitoring of Untethered Patients in Smart Beds". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2022. [ PDF ]
[11] B. Plácido, M. Tavakoli, D. Portugal, "Smart Bed IoT based Wireless Data Acquisition for Untethered Patients". MSc. Dissertation Project on Biomedical Engineering, Department of Physics, Faculty of Science and Technology of the University of Coimbra, Portugal, February, 2021. [ PDF ]
[10] T. Novo, D. Portugal, R. P. Rocha, "EXAMINER - Multi Robot 3D Exploration on Uneven Terrains". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, January, 2020. [ PDF ]
[9] H. Marques, G. Martins, D. Portugal, "3D Registration and Mapping". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, January, 2020. [ PDF ]
[8] D. Lourenço, G. Martins, D. Portugal, "3D Navigation for Ground Robots in Forestry Applications". MSc. Dissertation Project, Department of Electrical Engineering and Computers, Faculty of Science and Technology of the University of Coimbra, Portugal, January, 2020. [ PDF ]
[7] F. C. Vaz, M. S. Couceiro, D. Portugal, R. P. Rocha, "Localization of an UUV using multiple USVs, multilateration , and sensor data fusion", Ingeniarius Ltd and Institute of Systems and Robotics (ISR), Faculty of Science and Technology, University of Coimbra, Portugal, September, 2018. [ PDF ]
[6] M. Belk, D. Portugal, E. Christodoulou, G. Samaras, "CogniMouse: On Detecting Users' Task Completion Difficulty through Computer Mouse Interaction". Poster presented at the ACM International Conference on Human Factors in Computing Systems (CHI 2015), Seoul, South Korea, April 18-23, 2015. [ PDF ]
[5] J. Machado Santos, D. Portugal and R. P. Rocha, "An Evaluation of 2D SLAM Techniques Available in Robot Operating System". Poster presented at the 2013 International Symposium on Safety, Security and Rescue Robotics (SSRR 2013), Linköping, Sweden, Oct 21-26, 2013. [ PDF ]
[4] D. Portugal and R. P. Rocha, "Effective Cooperation and Scalability in Multi-Robot Patrolling Algorithms - v2". Mobile Robotics Laboratory, Institute of Systems and Robotics (ISR), Faculty of Science and Technology, University of Coimbra, Portugal, June, 2013. [ PDF ]
[3] D. Portugal and R. P. Rocha, "Effective Cooperation and Scalability in Multi-Robot Patrolling Algorithms - v1". Mobile Robotics Laboratory, Institute of Systems and Robotics (ISR), Faculty of Science and Technology, University of Coimbra, Portugal, November, 2011. [ PDF ]
[2] A. Araújo, R. P. Rocha, D. Portugal and M. Couceiro, "TRAXBOT: Assembling and Programming of a Mobile Robotic Platform". Mobile Robotics Laboratory, Institute of Systems and Robotics (ISR), Faculty of Science and Technology, University of Coimbra, Portugal, October, 2011. [ PDF ]
[1] D. Portugal and R. P. Rocha, "RoboCops: A Study of Coordination Algorithms for Autonomous Mobile Robots in Patrolling Missions". Mobile Robotics Laboratory, Institute of Systems and Robotics (ISR), Faculty of Science and Technology, University of Coimbra, Portugal, September, 2009. [ PDF ]
Pre-Prints and Selected Reports
[9] L. Freda, T. Novo, D. Portugal, R. P. Rocha, "3D Multi-Robot Exploration with a Two-Level Coordination Strategy and Prioritization", Institute of Systems and Robotics, July, 2023. [ PDF ]
[8] F. C. Vaz, D. Portugal, A. Araújo, M. S. Couceiro, "A Localization Approach for Autonomous Underwater Vehicles: A ROS-Gazebo Framework", Ingeniarius Ltd, July, 2018. [ PDF ]
[7] D. Portugal, L. Santos, P. Trindade, C. Christophorou, P. Andreou, D. Georgiadis, M. Belk, J. Freire, P. Alvito, G. Samaras, E. Christodoulou, J. Dias, "SocialRobot: Towards a Personalized Elderly Care Mobile Robot", Citard Services Ltd, Social Robot Report, September, 2014. [ PDF ]
[6] A. Araújo, W. Miani, D. Portugal, M.S. Couceiro, R.P. Rocha, "StingBot -- Technical Manual v1.2". Technical Report, Institute of Systems and Robotics, University of Coimbra, Portugal, December, 2012. [ PDF ]
[5] A. Araújo, D. Portugal, M.S. Couceiro, R.P. Rocha, "TraxBot -- Technical Manual v1.7". Technical Report, Institute of Systems and Robotics, University of Coimbra, Portugal, December, 2012. [ PDF ]
[4] D. Portugal, "A Study on Local Planning Techniques for Mobile Robot Navigation". Report presented for the Ph.D. Doctoral Program subject of Mobile Robotics Methodologies, Faculty of Science and Technology, University of Coimbra, Portugal, July, 2010. [ PDF ]
[3] D. Portugal, "A Study of Genetic Algorithms for Approximating the Longest Path in Generic Graphs". Report presented for the Ph.D. Doctoral Program subject of Advanced Topics on Operational Research, Faculty of Science and Technology, University of Coimbra, Portugal, February, 2010. [ PDF ]
[2] D. Portugal, "Study of Auction-Based Methods for Multi-Robot Coordination". Report presented for the Ph.D. Doctoral Program subject of Cooperative Robotics Systems, Faculty of Science and Technology, University of Coimbra, Portugal, January, 2010. [ PDF ]
[1] D. Portugal, "Multiple Autonomous Mobile Robots Patrolling Related Issues". Report presented to support the dissertation for the degree of Master of Science in Electrical and Computer Engineering, Faculty of Science and Technology, University of Coimbra, Portugal, Sept. 2009. [ PDF ]