Manuel F. Silva, José Luís Lima, Luís Paulo Reis, Alberto Sanfeliu, Danilo Tardioli: Robot 2019: Fourth Iberian Robotics Conference - Advances in Robotics, Volume 2, Porto, Portugal, 20-22 November, 2019. Advances in Intelligent Systems and Computing 1093, Springer 2020, ISBN 978-3-030-36149-5