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Presentation

Robotics and Autonomous Systems

At CRAS, our mission is to develop innovative robotic solutions for complex environments and multiple operations, including data gathering, inspection, mapping, surveillance, and intervention.

We work in four main areas of research: autonomous navigation; long-term deployments; sensing, mapping, and intervention; multiple platform operations.

Latest News

New blood cell technology awarded at international conference

The researchers Rui Martins and Filipe Santos are part of the team that developed a portable clinical analysis technology that provides results in milliseconds.

27th August 2021

Networked Intelligent Systems

INESC TEC analyses forest fire risk management at European level

The FIRELOGUE project – Cross Sector Dialogue for Wildfire Risk Management – is INESC TEC’s new European project; it aims to promote initiatives focused on exchanging knowledge and best practices,towards reducing the risk of fire.

16th July 2021

Networked Intelligent Systems

Locating and gathering fishing nets via acoustic sensors and autonomous vehicles

The NetTAG project (Tagging fishing gears and enhancing on board best-practices to promote waste free fisheries) developed a technological solution based on acoustic sensors and an autonomous remotely operated vehicle (ROV), in order to locate and recover lost fishing gear. The solution was tested on June 25, off the northern coast of Portugal, near Póvoa do Varzim, marking the end of the project - with the involvement of INESC TEC's Centre for Robotics and Autonomous Systems (CRAS). 

12th July 2021

Networked Intelligent Systems

INESC TEC tested one of the most advanced underwater robots in the world

The testing of the UX-1Neo autonomous robot, developed to explore flooded underground mines, took place on May 27, at the old Urgeiriça uranium mine (Nelas, Viseu). These were the first tests of the robot developed by INESC TEC’s Centre for Robotics and Autonomous Systems (CRAS), within the scope of the European project UNEXUP.

28th May 2021

Networked Intelligent Systems

INESC TEC leads project that aims to "clean up" the Azores ports

INESC TEC, through its Centre for Robotics and Autonomous Systems (CRAS) is the leader of the PORT XXI - Space Enabled Sustainable Port Service project, which aims to develop and implement monitoring and environmental management solutions, in order to improve the management of complex activities and achieve zero pollution in the ports of Azores.

04th March 2021

Interest Topics
063

Featured Projects

EUSCORES

EUropean - Scalable and Complementary Offshore Renewable Energy Sources

2021-2025

KRISO 2021

Underwater 3D Environment Perception – VAMOS the case study

2021-2021

Connect2Oceans

Connecting Atlantic and Arctic Oceans to Decipher Climate Change Impact on Plankton Microbiome Functions

2021-2024

PORT XXI

PORT XXI – Space Enabled Sustainable Port Services

2020-2021

NoduleMiner6k

NoduleMiner6k

2020-2021

SHIELD

Safeguard Heritage in Endangered Looted Districts

2020-2022

KRISO 2020

Underwater 3D Environment Perception, Awareness, Reasoning for CPOS (Cyber-Physical Operation System) of Underwater Robots

2020-2020

K2D

Knowledge and Data from the Deep to Space

2020-2023

REV@CONSTRUCTION

DIGITAL CONSTRUCTION REVOLUTION

2020-2023

FLY_PT

Mobilizar a indústria aeronáutica nacional para a disrupção no transporte aéreo urbano do futuro

2020-2023

NEWSAT

Development of a compact integrated sensor and satellite for earth observation

2020-2023

inSITE

inSITE. Insitu ore grading system using LIBS in harsh environments

2020-2022

ATLANTIS

The Atlantic Testing Platform for Maritime Robotics: New Frontiers for Inspection and Maintenance of Offshore Energy Infrastructures

2020-2022

UNEXUP

UNEXUP. UNEXMIN Upscaling

2020-2022

QuALTOS

Quality Assurance in Long Term Observation Systems

2020-2022

Sail2020

Space-Atmosphere-Ocean Interactions in the marine boundary Layer

2020-2020

RHAQ

Contratação de Recursos Humanos Altamente Qualificados

2020-2023

DEEPFIELD

DeepField- Deep Learning in Field Robotics: from conceptualization towards implementation

2019-2022

ESAPlastics

DE-RISK ASSESSMENT: SPECTROMETER FOR MARINE LITTER

2019-2021

SPRING

Strategic planning for water resources and implementation of novel biotechnical treatment solutions and good practices

2019-2023

SensiTermo_1

Estudo técnico de tecnologias e componentes eletrónicos para a monitorização da passagem de água em termoacumuladores de forma não intrusiva

2019-2019

SantoAntonio

ROV de inspeção e apoio à limpeza para Santo António Energia

2019-2021

SVManagement

Apoio à constituição de uma equipa de investigação e desenvolvimeto da Clínica Saúde Viável

2019-2019

MetroRec

Avaliação do sistema gravação vídeo do Metro do Porto

2019-2019

Nettag

Tagging fishing gears and enhancing on board best-practices to promote waste free fisheries

2019-2021

Mine_Heritage

Historical Mining – tracing and learning from ancient materials and mining technology

2019-2021

NESSIE

moNitoring offshorE StructureS with robotIc systems intEgration

2019-2021

Prince

Preparedness Response for CBRNE INCidEnts

2019-2021

GROW

Long-range broadband underwater wireless communications

2018-2021

DIIUS

Distributed perceptIon for inspectIon of aqUatic Structures

2018-2022

ENDURANCE

Underwater wireless energy and communications enabling long-term deep-sea presence

2018-2020

HiperSea

Sistema Hiperbárico para Recolha e Manutenção de Organismos do Mar Profundo

2018-2021

BIOREM

Bioremediation of hydrocarbon pollutants by autochthonous microorganisms in aquatic environment

2018-2021

INTENDU

Integrated Technologies Longterm Deployment of Robotic Underwater platforms

2018-2021

FEEDFIRST

Desenvolvimento de uma nova tecnologia para cultivo de larvas de peixes à primeira alimentação

2018-2021

PROTOATLANTIC

Development and validation of a program for the prototyping and exploitation of innovative ideas

2017-2021

ROSM

Sistema robótico de mitigação de derrame de crude

2017-2019

AutoMon

MMonitorização automatizada de Recursos Hídricos

2017-2021

TEC4Sea

Modular Platform for Research, Test and Validation of Technologies supporting a Sustainable Blue Economy

2017-2021

EMSO-PT

Observatório Europeu Multidisciplinar do Fundo do Mar e Coluna de Água - Portugal

2017-2022

SpilLess

First line response to oil spills based on native microorganisms cooperation (SpilLess)

2017-2019

SIDENAV

Smart infrastructure for deep sea navigation

2016-2018

RAWFIE

Road-, Air- and Water-based Future Internet Experimentation

2016-2019

HAIFA

Buoys for marine equipment

2016-2017

MyTag-CRAS

Integrating natural and artificial tags to reconstruct fish migrations and ontogenetic niche shifts

2016-2019

EDA-SAVEWATE-CRAS

System of Autonomous Vehicles for Water Environments for Defense

2016-2018

Fmanagement

Fmanagement

2016-2017

DeepFloat

Sistema de variação de flutuação para aplicações submarinas

2016-2018

UNEXMIN-CRAS

Autonomous Underwater Explorer for Flooded Mines

2016-2019

CORAL-SENSORS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2018

CORAL-TOOLS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2018

STRONGMAR-CRAS

STRengthening MARritime Technology Research Center

2016-2018

EMSODEV

EMSO implementation and operation: DEVelopment of instrument module

2015-2018

MarineEye

MarinEye - A prototype for multitrophic oceanic monitoring

2015-2017

BLUECOM+

Connecting Humans and Systems at Remote Ocean Areas using Cost-effective Broadband Communications

2015-2017

ENDURE

Enabling Long-Term Deployments of Underwater Robotic Platforms in Remote Oceanic Locations

2015-2017

Demo_Drone

Demonstração de capacidades de utilização de Drones para inspeção detalhada de ativos de rede

2015-2018

CINMarS

Combining Space and Maritime NetWorks

2015-2017

VAMOS

Viable Alternative Mine Operating System

2015-2019

SUNNY

Smart UNmanned aerial vehicle sensor Network for detection of border crossing and illegal entrY

2014-2018

Evologics-CRAS

Real Time LBL Data Fusion for Acoustic Modems

2013-2019

ICARUS-CRAS

Integrated Components for Assisted Rescue and Unmanned Search operations

2012-2016

SUB.2-CRAS

Propelled underwater vehicle carrying energy, electronic and computing systems on board, capable of operating autonomously without being connected to the operator

2012-2015

Team
001

Laboratories

Robotics and Autonomous Systems Laboratory

Publications

CRAS Publications

View all Publications

2021

Crowdsourced Data Stream Mining for Tourism Recommendation

Authors
Leal, F; Veloso, B; Malheiro, B; Burguillo, JC;

Publication
Advances in Intelligent Systems and Computing - Trends and Applications in Information Systems and Technologies

Abstract

2021

Elderly Monitoring – An EPS@ISEP 2020 Project

Authors
Priebe, J; Swiatek, K; Vidinha, M; Vaduva, MR; Tiits, M; Sorescu, TG; Malheiro, B; Ribeiro, C; Justo, J; Silva, MF; Ferreira, P; Guedes, P;

Publication
Advances in Intelligent Systems and Computing - Trends and Applications in Information Systems and Technologies

Abstract

2021

Deep learning point cloud odometry: Existing approaches and open challenges

Authors
Teixeira, B; Silva, H;

Publication
U.Porto Journal of Engineering

Abstract
Achieving persistent and reliable autonomy for mobile robots in challenging field mission scenarios is a long-time quest for the Robotics research community. Deep learning-based LIDAR odometry is attracting increasing research interest as a technological solution for the robot navigation problem and showing great potential for the task. In this work, an examination of the benefits of leveraging learning-based encoding representations of real-world data is provided. In addition, a broad perspective of emergent Deep Learning robust techniques to track motion and estimate scene structure for real-world applications is the focus of a deeper analysis and comprehensive comparison. Furthermore, existing Deep Learning approaches and techniques for point cloud odometry tasks are explored, and the main technological solutions are compared and discussed. Open challenges are also laid out for the reader, hopefully offering guidance to future researchers in their quest to apply deep learning to complex 3D non-matrix data to tackle localization and robot navigation problems.

2021

Hyperparameter self-tuning for data streams

Authors
Veloso, B; Gama, J; Malheiro, B; Vinagre, J;

Publication
Information Fusion

Abstract

2021

Emergency Landing Spot Detection Algorithm for Unmanned Aerial Vehicles

Authors
Loureiro, G; Dias, A; Martins, A; Almeida, J;

Publication
Remote Sensing

Abstract
The use and research of Unmanned Aerial Vehicle (UAV) have been increasing over the years due to the applicability in several operations such as search and rescue, delivery, surveillance, and others. Considering the increased presence of these vehicles in the airspace, it becomes necessary to reflect on the safety issues or failures that the UAVs may have and the appropriate action. Moreover, in many missions, the vehicle will not return to its original location. If it fails to arrive at the landing spot, it needs to have the onboard capability to estimate the best area to safely land. This paper addresses the scenario of detecting a safe landing spot during operation. The algorithm classifies the incoming Light Detection and Ranging (LiDAR) data and store the location of suitable areas. The developed method analyses geometric features on point cloud data and detects potential right spots. The algorithm uses the Principal Component Analysis (PCA) to find planes in point cloud clusters. The areas that have a slope less than a threshold are considered potential landing spots. These spots are evaluated regarding ground and vehicle conditions such as the distance to the UAV, the presence of obstacles, the area’s roughness, and the spot’s slope. Finally, the output of the algorithm is the optimum spot to land and can vary during operation. The proposed approach evaluates the algorithm in simulated scenarios and an experimental dataset presenting suitability to be applied in real-time operations.

Supervised Theses

2020

Sistema de reconstrução 3D com LiDAR e câmara de espetro visível para veículo autónomo aéreo

Author
Pedro André Peixoto Fonseca de Castro e silva

Institution
IPP-ISEP

2020

Modelação e Simulação de um Veleiro Terrestre com Vela Asa

Author
VÍTOR DANIEL VELOSO TINOCO

Institution
IPP-ISEP

2020

Multi-agent Reinforcement Learning for Distributed Perception Systems in Maritime Environments

Author
Maria Inês Rodrigues Pereira

Institution
INESCTEC

2020

Sistema Autónomo de Aquisição de Imagens de Alta Resolução de Plâncton

Author
JOÃO FILIPE AMORIM RESENDE

Institution
IPP-ISEP

2020

Object Detection and Tracking for ASV

Author
DIMPI RAJUBHAI PATEL

Institution
IPP-ISEP

Facts & Figures

7Proceedings in indexed conferences

2020

15Senior Researchers

2016

40Researchers

2016

Contacts