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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
Networked Intelligent Systems

INESC TEC equips School Ship Sagres to study atmospheric electricity and climate change

INESC TEC, together with the Portuguese Navy, within the scope of the SAIL (Space-Atmosphere-Ocean Interactions in the marine boundary Layer) project, is helping to equip the School Ship Sagres to study atmospheric electricity and climate change. Therefore, the vessel is being transformed into a true scientific laboratory that will allow a pioneer study in these two topics.

20th November 2019

INESC TEC highlighted at AED Days 2019

Speakers from BOEING, Airbus, Embraer, Bell Helicopter or OGMA; interventions from the Minister of National Defence, João Gomes Cravinho, the Secretary of State of Economy, João Neves, the Secretary of State for Internationalization, Eurico Dias; attendance of the AICEP President and the Ambassador of Canada at the networking dinner; conferences, workshops, B2B Meetings, pitches, technology exhibitions and industrial visits. The AED Days 2019 event had all this and much more.

13th November 2019

Computer Science

The project to further develop INESC TEC’s knowledge in the fields of robotics has started

The goal of the project is to consolidate the knowledge in the ​​robotics area and to promote cooperation ties between INESC TEC and other European research institutions with experience in this field.

24th October 2019

Networked Intelligent Systems

INESC TEC’s robotics participates in NATO’s exercise

Between 11 and 27 September, INESC TEC participated in one the largest experimentation exercises of unmanned marine systems of Europe called Recognized Environmental Picture (REP), which took place in Portugal (Tróia and Sesimbra). 

01st October 2019

Networked Intelligent Systems

INESC TEC participates in the European Researchers’ Night 2019

On 27 September, INESC TEC will participate in the European Researchers’ Night, with a presentation conducted by Carlos Almeida, researcher of the Centre for Robotics and Autonomous Systems (CRAS), on the European project UNEXMIN – Exploration and mapping of flooded mines with robots. 

24th September 2019

Interest Topics
048

Featured Projects

INSite

INSite. In­situ ore grading system using LIBS in harsh environments

2020-2023

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

DEEPFIELD

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

2019-2022

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

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

2019-2020

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

2018-2020

DIIUS

Distributed perceptIon for inspectIon of aqUatic Structures

2018-2021

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

2018-2020

PROTOATLANTIC

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

2017-2020

ROSM

Sistema robótico de mitigação de derrame de crude

2017-2019

AutoMon

MMonitorização automatizada de Recursos Hídricos

2017-2020

TEC4SEA

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

2017-2020

EMSO-PT

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

2017-2020

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

2019

Altitude control of an underwater vehicle based on computer vision

Authors
Rodrigues, PM; Cruz, NA; Pinto, AM;

Publication
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Abstract
It is common the use of the sonar technology in order acquire and posteriorly control the distance of an underwater vehicle towards an obstacle. Although this solution simplifies the problem and is effective in most cases, it might carry some disadvantages in certain underwater vehicles or conditions. In this work it is presented a system capable of controlling the altitude of an underwater vehicle using computer vision. The sensor capable of computing the distance is composed of a CCD camera and 2 green pointer lasers. Regarding the control of the vehicle, the solution used was based on the switching of two controllers, a velocity controller (based on a PI controller), and a position controller (based on a PD controller). The vehicle chosen to test the developed system was a profiler, which main task is the vertical navigation. The mathematical model was obtained and used in order to validate the controllers designed using the Simulink toolbox from Matlab. It was used a Kalman filter in order to have a better estimation of the state variables (altitude, depth, and velocity). The tests relative to the sensor developed responsible for the acquisition of the altitude showed an average relative error equal to 1 % in the range from 0 to 2.5 m. The UWsim underwater simulation environment was used in order to validate the integration of the system and its performance. © 2018 IEEE.

2019

Optimizing the Power Budget of Hovering AUVs

Authors
Cruz, NA;

Publication
2019 IEEE International Underwater Technology Symposium, UT 2019 - Proceedings

Abstract
The maximum mission duration and range of an Autonomous Underwater Vehicle are governed by the amount of energy carried on board and the way it is spent during the mission. While an increase in battery capacity and a decrease in electronics demand yield a direct increase in vehicle range, the impact of velocity variation is not so obvious. With slower velocities, most of the energy will be spent in electronics, not in motion, while for faster velocities a lot of energy will be needed to balance drag. Flying-type AUVs have a minimum velocity for the control surfaces to be effective, reducing the range of values for optimization. Hovering type AUVs, on the other hand, are typically slower moving platforms, able to travel at arbitrarily slow velocities. This paper addresses the analysis of the power consumption of hovering type AUVs, providing guidelines and analytical expressions to compute the optimal velocity when the vehicle travels in a single direction, and also when the trajectory is a combination of horizontal and vertical motion. © 2019 IEEE.

2019

Pushing for Higher Autonomy and Cooperative Behaviors in Maritime Robotics

Authors
Djapic, V; Curtin, TB; Kirkwood, WJ; Potter, JR; Cruz, NA;

Publication
IEEE JOURNAL OF OCEANIC ENGINEERING

Abstract

2019

Tracking multiple Autonomous Underwater Vehicles

Authors
Melo, J; Matos, AC;

Publication
Autonomous Robots

Abstract
In this paper we present a novel method for the acoustic tracking of multiple Autonomous Underwater Vehicles. While the problem of tracking a single moving vehicle has been addressed in the literature, tracking multiple vehicles is a problem that has been overlooked, mostly due to the inherent difficulties on data association with traditional acoustic localization networks. The proposed approach is based on a Probability Hypothesis Density Filter, thus overcoming the data association problem. Our tracker is able not only to successfully estimate the positions of the vehicles, but also their velocities. Moreover, the tracker estimates are labelled, thus providing a way to establish track continuity of the targets. Using real word data, our method is experimentally validated and the performance of the tracker is evaluated. © 2018 Springer Science+Business Media, LLC, part of Springer Nature

2019

A data-driven particle filter for terrain based navigation of sensor-limited autonomous underwater vehicles

Authors
Melo, J; Matos, A;

Publication
Asian Journal of Control

Abstract

Supervised Theses

2018

Identificação de Sistemas Utilizando a Parametrização MOLI

Author
Patrícia Gomes Saraiva

Institution
UP-FEUP

2018

Controlo de um Pasteurizador com um Autómato Programável

Author
Fernando Sousa e Silva

Institution
UP-FEUP

2018

Navegação de AUVs na Proximidade de Estruturas Usando Visão Computacional

Author
Nuno Miguel Valente Agante

Institution
UP-FEUP

2018

Caracterização tridimensional de objetos dinâmicos para operações com robôs móveis

Author
João António Brito Pires

Institution
UP-FEUP

2018

Improving Time of Arrival Estimation Using Encoded Acoustic Signals

Author
João Miguel Fernandes Magalhães

Institution
UP-FEUP

Facts & Figures

24Proceedings in indexed conferences

2016

3Book Chapters

2016

1246EU Programmes (k€)

2016

Contacts