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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
Networked Intelligent Systems

INESC TEC team assessed to advance to the final round of the Shell Global Competition

As part of the Shell Ocean Discovery XPrize international competition, which has a group of researchers from INESC TEC as the only Portuguese semi-finalists, a delegation from the competition was in Porto to evaluate the performance of this national team.

10th January 2018

Networked Intelligent Systems

Project tests prototype for underwater exploration

A team of researchers from the Centre for Robotics and Autonomous Systems (CRAS) of INESC TEC was in Lee Moor (Devon, United Kingdom) testing the prototype created under European project ¡VAMOS! (Viable Alternative Mine Operating).

12th December 2017

Networked Intelligent Systems

STRONGMAR gathers stakeholders in Matosinhos

The first meeting of the stakeholders of the STRONGMAR project was held on 14 November at the facilities of the Port of Leixões Cruise Terminal, in Matosinhos. This meeting was held at the Marinetech 2017 event, promoted by the Hydrographic Institute and CIIMAR, which took place at the mentioned facilities on 14, 15 and 16 November.

06th December 2017

Porto Water Innovation Week with the participation of INESC TEC

INESC TEC participated in the Porto Water Innovation Week (PWIW), an initiative that transformed the city of Porto into the European capital of water and innovation, which took place between the 24th and the 30th of September at the Alfândega Porto Congress Centre.

06th October 2017

Industry and Innovation

INESC TEC’s robotics team wins European Robotics League for the second time

The aerial robotics team of the Centre for Robotics and Autonomous Systems (CRAS) of INESC TEC won, for the second time, the Grand Challenge of the European Robotics League (ERL) Emergency Robots, which took place in Piombino, Italy, between the 15th and the 23rd of September.

27th September 2017

Interest Topics
029

Featured Projects

ROSM

Sistema robótico de mitigação de derrame de crude

2017-2017

TEC4SEA

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

2017-2017

PROTOATLANTIC

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

2017-2017

EMSO-PT

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

2017-2017

AutoMon

Monitorização automatizada de albufeiras - NeoEnergia

2017-2017

SpilLess

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

2017-2018

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

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

2016-2019

Fmanagement

Fmanagement

2016-2017

DeepFloat

Sistema de variação de flutuação para aplicações submarinas

2016-2018

UNEXMIN

Autonomous Underwater Explorer for Flooded Mines

2016-2019

CORAL-TOOLS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2018

CORAL-SENSORS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2018

STRONGMAR

STRengthening MARritime Technology Research Center

2016-2018

CORAL-TOOLS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

2016-2016

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

2015-2017

CINMarS

Combining Space and Maritime NetWorks

2015-2017

VAMOS

Viable Alternative Mine Operating System

2015-2018

SUNNY

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

2014-2017

Evologics

Real Time LBL Data Fusion for Acoustic Modems

2013-2018

ICARUS

Integrated Components for Assisted Rescue and Unmanned Search operations

2012-2016

EDA-SAVEWATE

System of Autonomous Vehicles for Water Environments for Defense

2012-2017

SUB.2

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

2017

Unmanned Maritime Systems for Search and Rescue

Authors
Matos, A; Silva, E; Almeida, J; Martins, A; Ferreira, H; Ferreira, B; Alves, J; Dias, A; Fioravanti, S; Bertin, D; Lobo, V;

Publication
Search and Rescue Robotics - From Theory to Practice

Abstract

2017

A lightweight docking station for a hovering AUV

Authors
Cruz, NA; Matos, AC; Almeida, RM; Ferreira, BM;

Publication
2017 IEEE OES International Symposium on Underwater Technology, UT 2017

Abstract
The concept of underwater docking stations has long been proposed to support the long term deployment of AUVs, but the number of successful solutions is still very disappointing. Hovering type AUVs can navigate arbitrarily slow, simplifying the docking maneuver and the requirements for the receiving structure. This paper describes a docking system that was developed to extend the mission duration of the MARES AUV, a man portable hovering type AUV. Given the wide range of operational scenarios and configurations of this AUV, one of the design requirements was to have a simple modular structure, that could easily be reconfigured to support different vehicle configurations, deployment scenarios and docking maneuvers. The paper provides details of the mechanical aspects, the onboard electronic subsystems, and the general operational procedure, as well as preliminary data from the first trials. © 2017 IEEE.

2017

Accounting for uncertainty in search operations using AUVs

Authors
Abreu, N; Cruz, N; Matos, A;

Publication
2017 IEEE OES International Symposium on Underwater Technology, UT 2017

Abstract
Traditional coverage path planners create lawnmower-type paths in the operating area completely ignoring the uncertainty in the vehicle's position. However, in the presence of significant uncertainty in localization estimates, one can no longer guarantee that the vehicle will cover all the area according to plan. Aiming to bridge this gap, we present a coverage path planning technique for search operations which takes into account the vehicle's position and detection performance uncertainties and tries to minimize this uncertainty along the planned path. The objective is to plan paths, using a localization error model as input, to reduce as much uncertainty as possible and to minimize the extra path length (swath overlap) while satisfying mission feasibility constraints. We introduce an algorithm that calculates what will be the best moments for bringing the vehicle to surface to ensure a bounded position error. We also consider time and energy constraints that may influence the planned trajectory as path overlap is increased to account for uncertainty. Additionally we challenge the assumption frequently seen in coverage algorithms where two observations of the same target are considered independent. © 2017 IEEE.

2017

Flexible unmanned surface vehicles enabling future internet experimentally-driven research

Authors
Ferreira, B; Coelho, A; Lopes, M; Matos, A; Goncalves, C; Kandasamy, S; Campos, R; Barbosa, J;

Publication
OCEANS 2017 - Aberdeen

Abstract

2017

STRONGMAR Summer School 2016 — Joining theory with a practical application in Underwater Archeology

Authors
Marques, MM; Salgado, A; Lobo, V; Carapau, RS; Rodrigues, AV; Carreras, M; Roca, J; Palomeras, N; Hurtos, N; Candela, C; Martins, A; Matos, A; Ferreira, B; Almeida, C; de Sa, FA; Almeida, JM; Silva, E;

Publication
OCEANS 2017 - Aberdeen

Abstract

Supervised Theses

2016

Verilog implementation of the VESA DSC compression algorithm

Author
Carlos Alberto Pereira Ferreira

Institution
UP-FEUP

2016

Projeto e Desenvolvimento de um Veículo Submarino Autónomo

Author
Carlos Filipe Silva Gonçalves

Institution
UP-FEUP

2016

RTL Guidelines for Static Power Reduction

Author
Ciro de Moura Monteiro

Institution
UP-FEUP

2016

Real-Time Passive Acoustic Tracking of Underwater Vehicles

Author
José Francisco Ramos Valente

Institution
UP-FEUP

2016

Sistema de Triangulação Laser para Medição de Estruturas Submersas com Alta Definição

Author
João Miguel Pesqueira Gaspar Pombo

Institution
UP-FEUP

Facts & Figures

10Academic Staff

2017

6R&D Employees

2017

Contacts