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Robotics and Autonomous Systems

The Centre for Robotics and Autonomous Systems (CRAS) focuses on developing innovative robotic solutions for operation in complex environments. Each day, our researchers strive to map the unknown, creating solutions to explore the oceans’ depths, monitor the environment, or inspect infrastructures.


Our goal? To become a global reference in robotics and autonomous systems, combining expertise in multisensory perception and 3D modelling, navigation and control, robotic manipulation and intervention - pushing the boundaries of autonomous robotics and integrating aerial, ground, and underwater robots into our solutions.


Focusing on Technology Readiness Levels (TRL) between 5 and 8, CRAS develops prototypes and operational solutions for strategic sectors. Our laboratory infrastructure includes test tanks, prototyping workshops, and a wide range of equipment ready to operate in real-world environments.


Our researchers also resort to Mar Profundo, a support vessel for testing and validating innovative maritime technologies - a key asset in bridging theoretical design and field validation.


CRAS stands out for a practical approach: we combine advanced research with a strong focus on real-world applications, reducing human risk in hazardous missions, optimising operations and processes, and expanding the frontiers of autonomous robotics.

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Featured Projects

MP_EVA

Mar Profundo para recolhas visuais e filmagens com o veículo autónomo EVA

2026-2026

DSM_IMPACT

TECHONOLOGICAL CONSULTANCY FOR DSM IMPACT

2025-2026

BATTLEVERSE

A Human-Centred MSaaS Ecosystem for Enhanced Mission Planning and Execution via BATTLEfield Modelling, AdVERSarial AI, and Multi-domain Simulation Environments

2025-2028

EVA_AMPA

EVA - Levantamentos Visuais e Filmagens

2025-2026

ATLAS

Atlantic Tracking with Lightwave Acoustic Sensing

2025-2028

PLANKTASTIC

Uma nova abordagem para investigar efeitos dos micropla´sticos no plâncton: dos organismos a`s comunidades e funcionalidades dos ecossistemas

2025-2028

AquaBenefit

Para além da colheita: benefícios ecológicos da aquacultura de bivalves

2025-2028

UPWELLING

Unlocking Potential for Workforce Excellence, Leadership, and Innovation in the Next-Gen Blue Economy

2025-2027

HIFLOW

Hull-Integrated Flow Sensing Matrix for Advancing Inertial Underwater Positioning of Oceanographic Unmanned Platforms

2025-2027

MP_Oceanografia

Mar Profundo para aquisição de dados de oceanografia física, química e biológica

2025-2025

MP_LevantGeofisico

Mar Profundo para operações de levantamento geofísico 2025

2025-2025

NAUTILUS

Navigation and Autonomous Underwater Technology for Infrastructure Long-term Unmanned Surveillance

2025-2028

MP_testesSensores

Mar Profundo para testes de sensores 2025

2025-2025

OPMAR3_EPISEA

Operações de inspeção de equipamentos marítimos para produção de energia offshore

2025-2025

BRI_AE_Project

Sistema de Monitorização de Ativos Geotécnicos de Risco

2025-2025

BioPorts

Combining biotechnology and robotics to prevent and eliminate pollution inside ports

2025-2028

VICTORIOUS

INNOVATIVE AI-ENHANCED, REMOTELY POWERED, INDIRECT FIRE OBSERVATION SYSTEM UTILIZING UNMANNED VEHICLES

2025-2028

Silos_Portos

Inspeção interior e exterior dos Silos de Cereais Porto de Leixões

2025-2026

SERV_EX_UAV

SERV_EX_UAV

2025-2026

DigiMaTRIA

DigiMaTRIA - Gestão Digital da Manutenção de Ativos Industriais com recurso a Robótica e Inteligência Artificial

2025-2028

SoleMATES

Sole Monitoring using Automated and Traditional eDNA Sampling

2025-2027

AI4PORTS

AI techniques for anomaly assessment in Port Structures

2025-2026

INESCTEC.OCEAN

Centre of Excellence in Ocean Research and Engineering

2025-2030

ADVISOR

Cooperative Missions of Autonomous Vehicle Swarms for Surveillance Tasks

2025-2027

BolsasFCT_Gestao

Funding FCT PhD Grants - Management

2025-9999

EQUIPAR_2

National Program for the Reinforcement of Scientific Equipment

2025-2026

AEROSUB

Automated Inspection Robots for Surface, Aerial and Underwater Substructures

2024-2028

NuClim

Nuclear observations to improve Climate research and GHG emission estimates

2024-2028

BioProtect

ADVANCING AREA-BASED MANAGEMENT TOOLS TO ACCELERATE THE PROTECTION AND RESTORATION OF MARINE BIODIVERSITY ACROSS THE EUROPEAN SEA BASINS

2024-2028

ACOUSTNET

Acoustic Network for Enhanced Underwater Communication and Positioning

2024-2025

SENTINEL

SpacE operatioNs, moniToring, and mappINg ExpLorer: a smart Orb-system

2024-2025

TALOS

roboTics and Artificial intelligence Living labs improving Operations in PV Scenarios

2023-2026

NETTAGPlus

Preventing, avoiding and mitigating environmental impacts of fishing gears and associated marine litter

2023-2026

NMicroARTIC

Nitrogen Microbiome in the Changing Artic

2023-2026

ATE

Alliance for Energy Transition

2023-2026

TRIDENT

Technology based impact assessment tool foR sustaInable, transparent Deep sEa miNing exploraTion and exploitation

2023-2027

MineIO

A Holistic Digital Mine 4.0 Ecosystem

2023-2026

AIRSHIP

AUTONOMOUS FLYING SHIPS FOR INTER-ISLAND AND INLAND WATERS TRANSPORT

2023-2026

AOWINDE

ATLANTIC OFFSHORE WIND ENERGY

2023-2026

AEROGANP

Creación de un eje transfronterizo de investigación y transferencia de conocimiento en el sector aeronáutico y espacial en la Eurorregión Galicia-Norte de Portugal

2023-2026

SEAWINGS

Sea/Air Interphasic Wing-in-Ground Effect Autonomous Drones

2022-2026

OVERWATCH

Integrated holographic management map for safety and crisis events

2022-2026

NEXUS

Innovation Pact - Digital and Green Transition

2022-2026

NewSpacePortugal

Agenda New Space Portugal

2022-2026

Drivolution

Agenda Drivolution

2022-2026

StoneByPortugal

SUISTANABLE StoneByPortugal: Valorização da Pedra Natural para um futuro digital, sustentável e qualificado

2022-2026

FLYPASS

FoiL boat using clean energY for PASSenger transportation

2022-2024

TIMREX

T-Shaped Master Programme for Innovative Mineral Resource Exploration

2022-2024

FIRELOGUE

Cross-sector dialogue for Wildfire Risk Management

2021-2025

MAGPIE

sMArt Green Ports as Integrated Efficient multimodal hubs

2021-2026

EUSCORES

EUropean - Scalable and Complementary Offshore Renewable Energy Sources

2021-2027

Connect2Oceans

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

2021-2024

MARIMAR

eMbarcação Autónoma para Remoção de lIxo MARinho

2020-2023

PORT XXI

Space Enabled Sustainable Port Services

2020-2022

SHIELD

Safeguard Heritage in Endangered Looted Districts

2020-2023

REVACONSTRUCTION

Digital construction revolution

2020-2023

FLY_PT

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

2020-2023

K2D

Knowledge and Data from the Deep to Space

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

2020-2023

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

DEEPFIELD

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

2019-2023

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

2019-2024

Prince

Preparedness Response for CBRNE INCidEnts

2019-2022

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

2019-2023

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

2018-2022

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

2017-2023

TEC4Sea

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

2017-2022

EMSO-PT

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

2017-2023

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

MyTag-CRAS

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

2016-2019

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

STRONGMAR-CRAS

STRengthening MARritime Technology Research Center

2016-2018

CORAL-TOOLS

CORAL – Sustainable Ocean Exploitation: Tools and Sensors

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

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

ICARUS-CRAS

Integrated Components for Assisted Rescue and Unmanned Search operations

2012-2016

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Publications

CRAS Publications

View all Publications

2026

Underwater SLAM and Calibration with a 3D Profiling Sonar

Authors
Ferreira, A; Almeida, J; Matos, A; Silva, E;

Publication
REMOTE SENSING

Abstract
Highlights What are the main findings? The SLAM method, based on the registration of 3D profiling sonar scans using the 3DupIC method, avoids the construction of submaps and thereby overcomes the limitations of other state-of-the-art approaches. Simultaneous optimization of the trajectory and extrinsic parameters, using the proposed SLAM and calibration method, ensures high accuracy in trajectory and map estimation. What is the implication of the main finding? Direct registration of raw scans supports two distinct applications. On the one hand, it enables pose estimation through odometry. On the other hand, it provides loop-closure constraints for the SLAM process. 3D profiling sonars are highly effective sensors for mapping, localization, and SLAM applications. This demonstration is particularly important as newer, smaller, and more affordable sonars in this category become available, contributing to their wider adoption.Highlights What are the main findings? The SLAM method, based on the registration of 3D profiling sonar scans using the 3DupIC method, avoids the construction of submaps and thereby overcomes the limitations of other state-of-the-art approaches. Simultaneous optimization of the trajectory and extrinsic parameters, using the proposed SLAM and calibration method, ensures high accuracy in trajectory and map estimation. What is the implication of the main finding? Direct registration of raw scans supports two distinct applications. On the one hand, it enables pose estimation through odometry. On the other hand, it provides loop-closure constraints for the SLAM process. 3D profiling sonars are highly effective sensors for mapping, localization, and SLAM applications. This demonstration is particularly important as newer, smaller, and more affordable sonars in this category become available, contributing to their wider adoption.Abstract High resolution underwater mapping is fundamental to the sustainable development of the blue economy, supporting offshore energy expansion, marine habitat protection, and the monitoring of both living and non-living resources. This work presents a pose-graph SLAM and calibration framework specifically designed for 3D profiling sonars, such as the Coda Octopus Echoscope 3D. The system integrates a probabilistic scan matching method (3DupIC) for direct registration of 3D sonar scans, enabling accurate trajectory and map estimation even under degraded dead reckoning conditions. Unlike other bathymetric SLAM methods that rely on submaps and assume short-term localization accuracy, the proposed approach performs direct scan-to-scan registration, removing this dependency. The factor graph is extended to represent the sonar extrinsic parameters, allowing the sonar-to-body transformation to be refined jointly with trajectory optimization. Experimental validation on a challenging real world dataset demonstrates outstanding localization and mapping performance. The use of refined extrinsic parameters further improves both accuracy and map consistency, confirming the effectiveness of the proposed joint SLAM and calibration approach for robust and consistent underwater mapping.

2026

Mapping Ethics in EPS@ISEP Robotics Projects

Authors
Malheiro, B; Guedes, P; F Silva, MF; Ferreira, PD;

Publication
Lecture Notes in Networks and Systems

Abstract
The European Project Semester (EPS), offered by the Instituto Superior de Engenharia do Porto (ISEP), is a capstone programme designed for undergraduate students in engineering, product design, and business. EPS@ISEP fosters project-based learning, promotes multicultural and interdisciplinary teamwork, and ethics- and sustainability-driven design. This study applies Natural Language Processing techniques, specifically text mining, to analyse project papers produced by EPS@ISEP teams. The proposed method aims to identify evidence of ethical concerns within EPS@ISEP projects. An innovative keyword mapping approach is introduced that first defines and refines a list of ethics-related keywords through prompt engineering. This enriched list of keywords is then used to systematically map the content of project papers. The findings indicate that the EPS@ISEP robotics project papers analysed demonstrate awareness of ethical considerations and actively incorporate them into design processes. The method presented is adaptable to various application areas, such as monitoring compliance with responsible innovation or sustainability policies. © 2025 Elsevier B.V., All rights reserved.

2026

A framework for supporting the reproducibility of computational experiments in multiple scientific domains

Authors
Costa, L; Barbosa, S; Cunha, J;

Publication
Future Gener. Comput. Syst.

Abstract
In recent years, the research community, but also the general public, has raised serious questions about the reproducibility and replicability of scientific work. Since many studies include some kind of computational work, these issues are also a technological challenge, not only in computer science, but also in most research domains. Computational replicability and reproducibility are not easy to achieve due to the variety of computational environments that can be used. Indeed, it is challenging to recreate the same environment via the same frameworks, code, programming languages, dependencies, and so on. We propose a framework, known as SciRep, that supports the configuration, execution, and packaging of computational experiments by defining their code, data, programming languages, dependencies, databases, and commands to be executed. After the initial configuration, the experiments can be executed any number of times, always producing exactly the same results. Our approach allows the creation of a reproducibility package for experiments from multiple scientific fields, from medicine to computer science, which can be re-executed on any computer. The produced package acts as a capsule, holding absolutely everything necessary to re-execute the experiment. To evaluate our framework, we compare it with three state-of-the-art tools and use it to reproduce 18 experiments extracted from published scientific articles. With our approach, we were able to execute 16 (89%) of those experiments, while the others reached only 61%, thus showing that our approach is effective. Moreover, all the experiments that were executed produced the results presented in the original publication. Thus, SciRep was able to reproduce 100% of the experiments it could run. © 2025 The Authors

2026

Crisis or Redemption with AI and Robotics? The Dawn of a New Era

Authors
Silva, MF; Tokhi, MO; Ferreira, MIA; Malheiro, B; Guedes, P; Ferreira, P; Costa, MT;

Publication
Lecture Notes in Networks and Systems

Abstract

2026

Development of a Hydrophone for Measuring the Propagation of Acoustic Waves in Biological Tissues

Authors
Pereira, A; Cardoso, VF; Martins, M; Fernandes, NATC; Carvalho, Ó;

Publication
Lecture Notes in Mechanical Engineering - Proceedings of ICOVP & WMVC 2025

Abstract