Abstract
In this article, we describe the effort being carried out in the analysis, design and implementation of the control architecture for a mobile platform for autonomous transportation, surveillance and inspection in structured and semi-structured industrial environments. The control architecture is based in a hierarchical structure organized linguistically permitting the real-time parallel execution of tasks. This, architecture is composed of three levels, Organization, Coordination and Functional, structured according to the Increasing Precision with Decreasing Intelligence Principle.

Abstract
This work addresses reconstructing an ancient mining site in three-dimensional (3D) modelling with robotic systems, processing the information from two visible spectrum cameras. The developed solution, GeoTec System, was validated in an underground environment in the Monastery of Tibães (Braga, NW Portugal). This study was developed under the MineHeritage project's scope, aiming to attain society on the importance of raw materials across a historical approach. The outputs acquired from the datasets developed in a successful 3D reconstruction of the main gallery and secondary tunnels of the Aveleiras mine in Tibães. However, the investigation is still ongoing to contribute to applying 3D reconstruction technologies, GIS-based mapping and geovisualization techniques in the underground heritage environment.