![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/04_ASIMO_Walking_t.jpg)
04_ASIMO_Walking
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/1_1 test_t.jpg)
1_1 test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/1_2 test_t.jpg)
1_2 test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/1_4 test_t.jpg)
1_4 test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/24LC1025_t.jpg)
24LC1025
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/25LC1025_t.jpg)
25LC1025
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/25LC1025_pinout_t.jpg)
25LC1025_pinout
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/416_TAb_t.jpg)
416_TAb
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/416_state_t.jpg)
416_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/5921_TAb_t.jpg)
5921_TAb
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/5921_state_t.jpg)
5921_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/733010_300_t.jpg)
733010_300
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/ASIMO_with_Carissa_sitting_on_couch_t.jpg)
ASIMO_with_Carissa_sitting_on_couch
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Ambiente de testes_t.jpg)
Ambiente de testes
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Amigobot_t.jpg)
Amigobot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Arquitectura_t.jpg)
Arquitectura
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Arquitectura_new_1_t.jpg)
Arquitectura_new_1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Arquitectura_new_2_t.jpg)
Arquitectura_new_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Auto_amb_comp_t.jpg)
Auto_amb_comp
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Auto_amb_med_t.jpg)
Auto_amb_med
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Auto_amb_peq_t.jpg)
Auto_amb_peq
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Auto_comp_media_t.jpg)
Auto_comp_media
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Auto_med_media_t.jpg)
Auto_med_media
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Auto_peq_media_t.jpg)
Auto_peq_media
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/B21_t.jpg)
B21
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Base_explodida_balões_t.jpg)
Base_explodida_balões
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Base_explodida_planos_t.jpg)
Base_explodida_planos
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/CB2_robot_1_t.jpg)
CB2_robot_1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Castrol_Flossie_t.jpg)
Castrol_Flossie
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Chassis_explodido_t.jpg)
Chassis_explodido
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Chassis_explodido1_t.jpg)
Chassis_explodido1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Chassis_explodido_leg_t.jpg)
Chassis_explodido_leg
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Chassis_para-choques_t.jpg)
Chassis_para-choques
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Cutlass1_gr_t.jpg)
Cutlass1_gr
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/DB3C-B1RC_t.jpg)
DB3C-B1RC
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Final_render_test_t.jpg)
Final_render_test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Final_render_test_t.jpg)
Final_render_test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Flockbot_t.jpg)
Flockbot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Futaba_S3003_t.jpg)
Futaba_S3003
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/GP2D120XJ00F_t.jpg)
GP2D120XJ00F
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/GP2D120_datasheet_graph_t.jpg)
GP2D120_datasheet_graph
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/GP2D120_datasheet_graph2_t.jpg)
GP2D120_datasheet_graph2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/GP2D120_graph_t.jpg)
GP2D120_graph
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/GlowBots_t.jpg)
GlowBots
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Grafico_test_comp_t.jpg)
Grafico_test_comp
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Grafico_test_media_comp_t.jpg)
Grafico_test_media_comp
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Khepera_III_robot_t.jpg)
Khepera_III_robot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/LENA_t.jpg)
LENA
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Lipsons_1_t.jpg)
Lipsons_1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Lipsons_2_t.jpg)
Lipsons_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/MIT-Odyssey-IV-AUV_t.jpg)
MIT-Odyssey-IV-AUV
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/MarkIII_t.jpg)
MarkIII
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Mars Explorer Rover vs Sojourner_t.jpg)
Mars Explorer Rover vs Sojourner
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/MaxSonar-EZ0_t.jpg)
MaxSonar-EZ0
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Miabot_all_labels_t.jpg)
Miabot_all_labels
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Odyssey_t.jpg)
Odyssey
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Para-choques system_t.jpg)
Para-choques system
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Pioneer2x2.5_t.jpg)
Pioneer2x2.5
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Pioneer_robot_t.jpg)
Pioneer_robot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Plustech_t.jpg)
Plustech
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Protocolo_SALbot_generico_t.jpg)
Protocolo_SALbot_generico
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/QRIO_t.jpg)
QRIO
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Robomaid_t.jpg)
Robomaid
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/S3003_t.jpg)
S3003
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_t.jpg)
SALbot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbotPCB_Aux_top_t.jpg)
SALbotPCB_Aux_top
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbotPCB_aux_t.jpg)
SALbotPCB_aux
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_1809_state_t.jpg)
SALbot_1809_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_2368_state_t.jpg)
SALbot_2368_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_416_state_t.jpg)
SALbot_416_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_5921_state_t.jpg)
SALbot_5921_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_592_state_t.jpg)
SALbot_592_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_6402_state_t.jpg)
SALbot_6402_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_64_state_t.jpg)
SALbot_64_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_7556_state_t.jpg)
SALbot_7556_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_8800_state_t.jpg)
SALbot_8800_state
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Aux_t.jpg)
SALbot_Aux
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Aux_diagram_t.jpg)
SALbot_Aux_diagram
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Com_diagram_t.jpg)
SALbot_Com_diagram
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Com_interface_t.jpg)
SALbot_Com_interface
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Com_interface2_t.jpg)
SALbot_Com_interface2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Main_PCB_t.jpg)
SALbot_Main_PCB
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Main_diagram_t.jpg)
SALbot_Main_diagram
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Main_test_t.jpg)
SALbot_Main_test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_Main_top_t.jpg)
SALbot_Main_top
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_SARSA_init_t.jpg)
SALbot_SARSA_init
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_all_exp_render_test_t.jpg)
SALbot_all_exp_render_test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_all_exp_render_test_alterado_t.jpg)
SALbot_all_exp_render_test_alterado
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_com_receiver1_t.jpg)
SALbot_com_receiver1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_com_receiver_top_t.jpg)
SALbot_com_receiver_top
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_exp_render_t.jpg)
SALbot_exp_render
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_exp_render_test_t.jpg)
SALbot_exp_render_test
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_explodido_t.jpg)
SALbot_explodido
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_explodido_t.jpg)
SALbot_explodido
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_explodido_balões_t.jpg)
SALbot_explodido_balões
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_explodido_leg_t.jpg)
SALbot_explodido_leg
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_explodido_planos_t.jpg)
SALbot_explodido_planos
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_init_t.jpg)
SALbot_init
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_logo_t.jpg)
SALbot_logo
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_movements_t.jpg)
SALbot_movements
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_movements__t.jpg)
SALbot_movements_
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_perfil_t.jpg)
SALbot_perfil
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_perfil_t.jpg)
SALbot_perfil
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_render1_t.jpg)
SALbot_render1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_render1_t.jpg)
SALbot_render1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_render2_t.jpg)
SALbot_render2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_render_layers.Alpha_t.jpg)
SALbot_render_layers.Alpha
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_render_layers.Final Color_t.jpg)
SALbot_render_layers.Final Color
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_state_rep_t.jpg)
SALbot_state_rep
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_state_rep__t.jpg)
SALbot_state_rep_
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_top_t.jpg)
SALbot_top
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SALbot_torque_calc_t.jpg)
SALbot_torque_calc
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SARSA_eq_t.jpg)
SARSA_eq
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SARSA_pseudo_t.jpg)
SARSA_pseudo
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Shadow_200_UAV_t.jpg)
Shadow_200_UAV
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/SonyQrio_t.jpg)
SonyQrio
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Transbotics_Laser_Guided_Vehicle_t.jpg)
Transbotics_Laser_Guided_Vehicle
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/Trilobot_t.jpg)
Trilobot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/US06CustomMiabot_t.jpg)
US06CustomMiabot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/XBee_t.jpg)
XBee
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/aibo_t.jpg)
aibo
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/alice_1_t.jpg)
alice_1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/alice_2_t.jpg)
alice_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/cb2_robot_2_t.jpg)
cb2_robot_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/cyber rodent_2_t.jpg)
cyber rodent_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/cyber rodents_1_t.jpg)
cyber rodents_1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/cyber_rodent_t.jpg)
cyber_rodent
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/e-puck_t.jpg)
e-puck
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/e-puck_2_t.jpg)
e-puck_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/familiaPioneer20041009_t.jpg)
familiaPioneer20041009
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/fullfront_b21r_t.jpg)
fullfront_b21r
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/george_t.jpg)
george
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/glowbots_2_t.jpg)
glowbots_2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/gp2d120_t.jpg)
gp2d120
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/icub_t.jpg)
icub
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/image002_t.jpg)
image002
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/irobot_t.jpg)
irobot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/lewis_white_t.jpg)
lewis_white
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/miabot_prooverview_t.jpg)
miabot_prooverview
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/miabot_prowithcamera_t.jpg)
miabot_prowithcamera
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/microcamp_t.jpg)
microcamp
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/peoplebot_t.jpg)
peoplebot
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/peoplebot2_t.jpg)
peoplebot2
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/qrio_aibo_t.jpg)
qrio_aibo
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/robina_t.jpg)
robina
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/testet_t.jpg)
testet
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/trilobot_1_t.jpg)
trilobot_1
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/versatrax_100_t.jpg)
versatrax_100
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/versatrax_150_t.jpg)
versatrax_150
![](/public/LAR Projects/Learning/2010_HugoTavares/SALbot Thesis/Imagens/xpero_t.jpg)
xpero