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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
Redes de Sistemas inteligentes

Minerar debaixo de água já é possível e tem assinatura INESC TEC

Minerar debaixo de água já é possível, provou-se rentável economicamente e vantajoso para o meio ambiente.

28 dezembro 2018

Redes de Sistemas inteligentes

Primeira cientista-astronauta portuguesa é investigadora no INESC TEC

Ana Pires tornou-se em outubro a primeira mulher portuguesa a obter o diploma de cientista-astronauta no PoSSUM Scientist Astronaut Qualification Program, apoiado pela NASA e lecionado na Embry-riddle Aeronautical University (Flórida, EUA), uma das mais prestigiadas universidades norte-americanas por ter formado já vários astronautas.

26 dezembro 2018

Redes de Sistemas inteligentes

Evento sobre Geociências com participação INESC TEC

Ana Cristina Pires, investigadora do Centro de Robótica e Sistemas Autónomos do INESC TEC, participou na conferência “The Near Surface Geoscience Conference & Exhibition

13 dezembro 2018

Redes de Sistemas inteligentes

INESC TEC participa em simpósio sobre AUVs

Alfredo Martins, Aníbal Matos, Eduardo Silva e Nuno Cruz, colaboradores do Centro de Robótica e Sistemas Autónomos (CRAS) do INESC TEC, fizeram parte do Comité Internacional da organização do AUV - Autonomous Underwater Vehicle Symposium, um evento dedicado à tecnologia e as respetivas aplicações em veículos marítimos autónomos.

26 novembro 2018

INESC TEC participa em conferência internacional sobre robótica inteligente

Alfredo Martins e José Almeida, investigadores do Centro de Robótica e Sistemas Autónomos (CRAS) do INESC TEC, participaram na IROS 2018, que decorreu entre os dias 1 e 5 de outubro, em Madrid, Espanha.

19 novembro 2018

Tópicos de interesse
039

Projetos Selecionados

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

MARESye

Development of a Compact MARESye Prototype

2019-2019

NESSIE

moNitoring offshorE StructureS with robotIc systems intEgration

2019-2021

GROW

Comunicações subaquáticas sem fios de longo alcance e banda larga

2018-2020

DIIUS

Percepção distribuida para a inspeção de estruturas aquáticas

2018-2021

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

2018-2021

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

2018-2020

PROTOATLANTIC

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

2017-2020

ROSM

Sistema robótico de mitigação de derrame de crude

2017-2019

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

AutoMon

Monitorização automatizada de albufeiras - NeoEnergia

2017-2019

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

Bóias para instalalação de equipamento marítimo

2016-2017

MyTag-CRAS

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

2016-2019

EDA-SAVEWATE-CRAS

Sistema de Veículos Autónomos para Ambientes Aquáticos para aplicações na área da defesa

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+

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

Demo_Drone

Demonstração de capacidades de utilização de Drones para inspeção detalhada de ativos de rede;Desenvolvimento de uma solução de Drones de asas rotativas para inspeção de ativos de rede (fase 2)

2015-2018

CINMarS

Combining Space and Maritime NetWorks

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

Evologics-CRAS

Fusão de Dados LBL em Tempo Real para Modems Acústicos

2013-2019

ICARUS-CRAS

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

2012-2016

SUB.2-CRAS

Veículo submarino com capacidade de propulsão, energia transportada a bordo e sistemas eletrónicos e computacionais, capaz de operar autonomamente e sem qualquer ligação com o operador

2012-2015

Equipa
001

Laboratórios

Laboratório de Robótica e Sistemas Robóticos Autónomos

Publicações

CRAS Publicações

Ler todas as publicações

2019

Altitude control of an underwater vehicle based on computer vision

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

Publicação
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

Tracking multiple Autonomous Underwater Vehicles

Autores
Melo, J; Matos, AC;

Publicação
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

ISEP/INESC TEC Aerial Robotics Team for Search and Rescue Operations at the euRathlon 2015

Autores
Sousa, P; Ferreira, A; Moreira, M; Santos, T; Martins, A; Dias, A; Almeida, J; Silva, E;

Publicação
Journal of Intelligent and Robotic Systems: Theory and Applications

Abstract
This paper presents the results from search and rescue missions performed with the aerial robot OTUS in the the context of the ISEP/INESC TEC aerial robotics team participation on the euRathlon 2015 robotics competition. The multi-domain (land, sea and air) search and rescue scenario is described and technical solution adopted is presented with emphasis on the perception system. The calibration of the image based system is addressed. Results from the operational missions performed are also discussed. The aerial autonomous vehicle was able to successfully perform multiple tasks from the aerial reconnaissance and 3D mapping to the identification of leaking pipes, obstructed passages and missing workers. The system was validated a realistic operational scenario and won the Grand Challenge in cooperation with land and marine robotics partner teams. This challenge was the first time that a real time collaborative team of aerial, land and marine robots was deployed successfully in a search and rescue mission. © 2018 Springer Science+Business Media B.V., part of Springer Nature

2019

Modeling and simulation of a spherical vehicle for underwater surveillance

Autores
Grande, D; Bascetta, L; Martins, A;

Publicação
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Abstract
This paper presents the modeling and simulation of a spherical autonomous underwater vehicle. The robot was developed under the European Union H2020 innovation action UNEXMIN for the exploration of underground flooded mines, and is a small spherical robot with thrusters and an internal pendulum for pitch control. A model of the vehicle is presented, initially without the pendulum, then an extended formulation is derived accounting for a multibody dynamic description of the system. Experimental identification results for the determination of drag parameters are presented as well. A Modelica based simulator is developed for dynamic simulation of the vehicle, and is integrated with the Matlab/Simulink environment. The simulator is then validated based on preliminary experimental results. © 2018 IEEE.

2019

Analysis and prediction of hotel ratings from crowdsourced data

Autores
Leal, F; Malheiro, B; Burguillo, JC;

Publicação
Wiley Interdisciplinary Reviews: Data Mining and Knowledge Discovery

Abstract
Crowdsourcing has become an essential source of information for tourism stakeholders. Every day, tourists leave large volumes of feedback data in the form of posts, likes, textual reviews, and ratings in dedicated crowdsourcing platforms. This behavior makes the analysis of crowdsourced information strategic, allowing the discovery of important knowledge regarding tourists and tourism resources. This paper presents a survey on the analysis and prediction of hotel ratings from crowdsourced data, covering both off-line (batch) and on-line (stream-based) processing. Specifically, it reports multiple rating-based profiling, recommendation, and evaluation techniques. While most of the surveyed works adopt entity-based multicriteria profiling, prerecommendation filtering, and off-line processing, the latest hotel rating prediction trends include feature-based, trust and reputation modeling, postrecommendation filtering, and on-line processing. Additionally, since the volume of crowdsourced ratings tends to increase, the deployment of profiling and recommendation algorithms on high-performance computing resources should be further explored. This article is categorized under: Application Areas > Internet and Web-Based Applications. © 2018 Wiley Periodicals, Inc.

Teses Orientadas

2018

Multi-Robot 3D Target Estimation Under Uncertainty

Autor
André Miguel Pinheiro Dias

Instituição
Outra

2017

Physical Design Implementation and Engineering Change Order Flow

Autor
Afonso Ferreira Pinto Gomes Moreira

Instituição
UP-FEUP

2017

Mapeamento e odometria visual em ambiente subáquatico

Autor
Alexandra Pereira Nunes

Instituição
UP-FEUP

2017

Navegação e mapeamento subaquáticos simultâneos

Autor
Ana Rita da Silva Gaspar

Instituição
UP-FEUP

2017

Integração de um Manipulador numa Embarcação Robótica

Autor
André Filipe Sousa Pinto

Instituição
UP-FEUP

Factos & Números

1Teses de doutoramento concluídas

2016

15Investigadores Séniores

2016

10Docentes do Ensino Superior

2016

Contactos