Cookies
O website necessita de alguns cookies e outros recursos semelhantes para funcionar. Caso o permita, o INESC TEC irá utilizar cookies para recolher dados sobre as suas visitas, contribuindo, assim, para estatísticas agregadas que permitem melhorar o nosso serviço. Ver mais
Aceitar Rejeitar
  • Menu
    Factos & Números
    000
    Apresentação

    Centro de Robótica e Sistemas Autónomos

    A nossa missão no CRAS é desenvolver soluções robóticas inovadoras para ambientes complexos e múltiplas operações, incluindo recolha de dados, inspeção, mapeamento, vigilância ou intervenção.

    No CRAS trabalhamos em quatro áreas de investigação principais: navegação autónoma; missões de longo prazo; sensorização, mapeamento e intervenção; operações de múltiplas plataformas.

    Últimas Notícias
    Robótica

    INESC TEC e Missão de Portugal na ONU promovem reflexão sobre monitorização do mar profundo na Autoridade Internacional dos Fundos Marinhos

    Qual é a importância da monitorização da exploração do fundo marinho na sustentabilidade dos oceanos? Como é que a sustentabilidade das atividades humanas na Terra está intimamente ligada à transferência de conhecimento e de tecnologia à escala global? Estas e tantas outras questões estiveram em foco no evento promovido pelo Governo português e coorganizado pelo INESC TEC e pela Universidade de Évora na sede da Autoridade Internacional dos Fundos Marinhos (ISA).  

    06 novembro 2025

    Robótica

    Entre Ponta Delgada e Chicago, o mar foi novamente laboratório do INESC TEC

    No coração do Atlântico, o INESC TEC coorganizou mais um workshop WAVES, dedicado aos veículos avançados de investigação no mar. Já na ‘cidade ventosa’, os investigadores do Instituto tiveram a oportunidade de demonstrar as várias competências do INESC TEC em robótica marinha.  

    03 novembro 2025

    Robótica

    Da robótica à liderança científica: o papel do INESC TEC na primeira missão espacial análoga em habitat em Portugal

    O INESC TEC liderou a primeira missão espacial análoga realizada dentro de um habitat em Portugal. A iniciativa “Monsaraz Mars Analog Mission” decorreu entre os dias 13 e 25 de outubro, no espaço exterior do Observatório Astronómico do Lago-Alqueva (OLA), em Monsaraz. Ana Pires e Diogo Paupério foram os protagonistas por parte do Instituto.

    30 outubro 2025

    Robótica

    Qual o impacto real dos microplásticos nos ecossistemas marinhos? INESC TEC na criação de um equipamento capaz de fazer essa identificação

    Que os microplásticos têm um impacto nos organismos e nos ecossistemas marinhos, não é novidade. Há, no entanto, ainda por fazer a nível científico no que diz respeito à avaliação do real impacto que têm e, para isso, são necessárias ferramentas que permitam, por um lado, recolher novos dados ambientais, fazer uma avaliação e, com tudo isto, melhorar o conhecimento científico sobre como os microplásticos afetam o plâncton e o funcionamento dos ecossistemas.

    29 outubro 2025

    Robótica

    Uma plataforma que combina conhecimento, inovação e formação para alavancar a economia azul do Atlântico

    Há um projeto que quer dar um novo fôlego à economia azul do Atlântico. O INESC TEC é um dos parceiros do UPWELLING que quer criar uma rede de inovação com o objetivo de oferecer formação e experimentação, garantindo a ligação entre empresas e centro de inovação.

    22 outubro 2025

    Ver todas as Notícias
    084

    Projetos Selecionados

    EVA_AMPA

    EVA - Levantamentos Visuais e Filmagens

    2025-2025

    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

    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

    OPMAR2_EPISEA

    Operações de inspeção de equipamentos marítimos para produção de energia offshore

    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

    2025-2025

    AI4PORTS

    AI techniques for anomaly assessment in Port Structures

    2025-2026

    INESCTEC.OCEAN

    Centro de Excelência em Investigação e Engenharia Oceânica

    2025-2030

    AEROSUB

    Automated Inspection Robots for Surface, Aerial and Underwater Substructures

    2024-2028

    SEAGUARD

    Sea Environmental Awareness and Guard enhanced with Unmanned AI Robotic Detection

    2024-2027

    ADVISOR

    Cooperative Missions of Autonomous Vehicle Swarms for Surveillance Tasks

    2024-2027

    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

    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

    Aliança para a Transição Energética

    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

    Conectar os Oceanos Atlântico e Ártico para Decifrar o Impacto das Alterações Climática nas Funções dos Microbiomas Planctónicos

    2021-2024

    MARIMAR

    eMbarcação Autónoma para Remoção de lIxo MARinho

    2020-2023

    PORT XXI

    Space Enabled Sustainable Port Services

    2020-2022

    SHIELD

    Proteção do Património Cultural contra Pilhagem em Distritos em Perigo

    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

    Interações Espaço-Atmosfera-Oceano na Camada Limite Marinha

    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

    Comunicações subaquáticas sem fios de longo alcance e banda larga

    2018-2021

    DIIUS

    Percepção distribuida para a inspeção de estruturas aquáticas

    2018-2022

    ENDURANCE

    Comunicações e energia sem fios subaquática contribuindo para a presença de longo

    2018-2020

    HiperSea

    Sistema Hiperbárico para Recolha e Manutenção de Organismos do Mar Profundo

    2018-2022

    BIOREM

    Bioremediação de poluição por hidrocarbonetos ambiente aquático usando microrganismos autóctones

    2018-2021

    INTENDU

    Tecnologias integradas para operações persistentes de plataformas robóticas submarinas

    2018-2021

    FEEDFIRST

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

    2018-2021

    PROTOATLANTIC

    Desenvolvimento e validação de um programa de prototipagem e exploração de ideias inovadoras

    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

    Integração de marcas naturais e artificiais para reconstruir migrações de peixes e alterações ontogénicas de nicho

    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

    Ligando Humanos e Sistemas em Zonas Remotas do Oceano através de Comunicações de Banda Larga e Baixo Custo

    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

    Rede de Sensores Aéreos Inteligentes para a Deteção de Embarcações Usadas para Fins Criminosos e Entradas Irregulares Além-fronteiras

    2014-2018

    ICARUS-CRAS

    Componentes Integradas para Operações de Busca e Salvamento com Veículos não Tripulados

    2012-2016

    Equipa
    José Miguel Almeida

    Coordenador de Centro

    Nuno Cruz

    Coordenador de Centro

    ViewClose Alphabet
    • a
    • b
    • c
    • d
    • e
    • f
    • g
    • h
    • i
    • j
    • k
    • l
    • m
    • n
    • o
    • p
    • q
    • r
    • s
    • t
    • u
    • v
    • w
    • x
    • y
    • z
    001

    Laboratórios

    Laboratório de Robótica e Sistemas Robóticos Autónomos

    Publicações

    CRAS Publicações

    Ler todas as publicações

    2026

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

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

    Publicação
    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

    FecharLer Abstract

    2026

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

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

    Publicação
    Lecture Notes in Networks and Systems

    Abstract

    2025

    Variable Structure Depth Controller for Energy Savings in an Underwater Device: Proof of Stability

    Autores
    Pinto, JB; Carneiro, JF; de Almeida, FG; Cruz, NA;

    Publicação
    ACTUATORS

    Abstract
    Underwater exploration is vital for advancing scientific understanding of marine ecosystems, biodiversity, and oceanic processes. Autonomous underwater vehicles and sensor platforms play a crucial role in continuous monitoring, but their operational endurance is often limited by energy constraints. Various control strategies have been proposed to enhance energy efficiency, including robust and optimal controllers, energy-optimal model predictive control, and disturbance-aware strategies. Recent work introduced a variable structure depth controller for a sensor platform with a variable buoyancy module, resulting in a 22% reduction in energy consumption. This paper extends that work by providing a formal stability proof for the proposed switching controller, ensuring safe and reliable operation in dynamic underwater environments. In contrast to the conventional approach used in controller stability proofs for switched systems-which typically relies on the existence of multiple Lyapunov functions-the method developed in this paper adopts a different strategy. Specifically, the stability proof is based on a novel analysis of the system's trajectory in the net buoyancy force-versus-depth error plane. The findings were applied to a depth-controlled sensor platform previously developed by the authors, using a well-established system model and considering physical constraints. Despite adopting a conservative approach, the results demonstrate that the control law can be implemented while ensuring formal system stability. Moreover, the study highlights how stability regions are affected by different controller parameter choices and mission requirements, namely, by determining how these aspects affect the bounds of the switching control action. The results provide valuable guidance for selecting the appropriate controller parameters for specific mission scenarios.

    FecharLer Abstract

    2025

    Depth Control of Variable Buoyancy Systems: A Low Energy Approach Using a VSC with a Variable-Amplitude Law

    Autores
    Bravo Pinto, J; Falcão Carneiro, J; Gomes de Almeida, F; Cruz, NA;

    Publicação
    Actuators

    Abstract
    Underwater exploration relies heavily on autonomous underwater vehicles and sensor platforms for sustained monitoring of marine environments, yet their operational duration is limited by energy constraints. To enhance energy efficiency, various control strategies have been proposed, including robust, optimal, and disturbance-aware approaches. Recent work introduced a variable structure controller (VSC) with a constant-amplitude control action for depth control of a platform equipped with a variable buoyancy module, achieving an average 22% reduction in energy use in comparison with conventional PID-based controllers. In a separate paper, the conditions for its closed-loop stability were proven. This study extends these works by proposing a controller with a variable-amplitude control action designed to minimize energy consumption. A formal proof of stability is provided to guarantee safe operation even under conservative assumptions. The controller is applied to a previously developed depth-regulated sensor platform using a validated physical model. Additionally, this study analyzes how the controller parameters and mission requirements affect stability regions, offering practical guidelines for parameter tuning. A method to estimate oscillation amplitude during hovering tasks is also introduced. Simulation trials validate the proposed approach, showing energy savings of up to 16% when compared to the controller using a constant-amplitude control action.

    FecharLer Abstract

    2025

    Real-Time Registration of 3D Underwater Sonar Scans

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

    Publicação
    ROBOTICS

    Abstract
    Due to space and energy restrictions, lightweight autonomous underwater vehicles (AUVs) are usually fitted with low-power processing units, which limits the ability to run demanding applications in real time during the mission. However, several robotic perception tasks reveal a parallel nature, where the same processing routine is applied for multiple independent inputs. In such cases, leveraging parallel execution by offloading tasks to a GPU can greatly enhance processing speed. This article presents a collection of generic matrix manipulation kernels, which can be combined to develop parallelized perception applications. Taking advantage of those building blocks, we report a parallel implementation for the 3DupIC algorithm-a probabilistic scan matching method for sonar scan registration. Tests demonstrate the algorithm's real-time performance, enabling 3D sonar scan matching to be executed in real time onboard the EVA AUV.

    FecharLer Abstract

    Factos & Números

    40Investigadores

    2016

    11Docentes do Ensino Superior

    2020

    1Capítulos de livros

    2020

    Ver todos os Factos & Números
    Contactos
    Aníbal Matos

    Responsável

    +351222094049

    anibal.matos@inesctec.pt

    Eduardo Silva

    Responsável

    +351228340554

    eduardo.silva@inesctec.pt