IEEE Robotics & Automation Magazine - March 2016 - 70

for the robot to simulate future events and only changes the
plan of action when significant deviations from the predictions occur. The results confirm the advantages of using an
EP-based control system that models the dynamics of external objects.
Acknowledgments
This work has been partially supported by the European
Commission with the RoboSoM Project, FP7-ICT-248366.
The authors would like to thank the Italian Ministry of Foreign Affairs, General Directorate for Cultural Promotion and
Cooperation, for its support in establishing the RoboCasa
joint laboratory, the Portuguese National Funding Fundação
para a Ciência e a Tecnologia project [UID/EEA/50009/2013]
and the European Commission project POETICON++ (FP7ICT-288382).
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Nino Cauli, Scuola Superiore Sant'Anna, Pisa, Italy.
E-mail: n.cauli@sssup.it.
Egidio Falotico, Scuola Superiore Sant'Anna, Pisa, Italy.
E-mail: e.falotico@sssup.it.
Alexandre Bernardino, IST-Técnico Lisboa, Lisbon, Portugal.
E-mail: alex@isr.ist.utl.pt.
José Santos-Victor, Instituto Superior Técnico-Lisbon, Portugal. E-mail: jasv@isr.tecnico.ulisboa.pt.
Cecilia Laschi, Scuola Superiore Sant'Anna, Pisa, Italy. E-mail:
cecilia.laschi@sssup.it.



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