About Us

The Cyber-Physical Control Systems and Robotics lab (C2SR) is part of the Research Center for Systems and Technologies (SYSTEC), Department of Electrical and Computer Engineering, Faculty of Engineering of the University of Porto (FEUP). The C2SR lab carries out research in the general area of control systems and robotics (theory and applications) for mobile networked cyber-physical systems with particular focus on motion planning, guidance, navigation and control of single and multiple cooperative/coordinated autonomous robotic vehicles; nonlinear control and estimation theory; decentralized control and estimation of networked cyber-physical control systems; optimal control; switched and hybrid systems; tracking and path-following; nonlinear observers; performance limitations; structure control of large-scale networked systems; and visual servo control.
The research team (members and collaborators) is multidisciplinary with backgrounds on Electrical and Computer Engineering, Aerospace Engineering, Computer Science, and Applied Mathematics.
Key research highlights in the last four years include:

  • 1. A framework for motion control and estimation of single and multiple heterogeneous autonomous robotic vehicles (underwater, surface and aerial) for data gathering and intervention purposes targeting scenarios of searching, surveillance, and surveying operations.

  • 2. A framework for analysis and design of optimization-based sampled-data economic model predictive control systems, aiming problems that include tradeoff objectives (e.g., economic, performance, robustness, safety, system observability properties, communication behavior and interaction with other systems, etc.)

  • 3. A framework for analysis and resilient design of large-scale networked dynamical systems using structural system properties, with emphasis on applications to real-time active monitoring.

Coordination: A. Pedro Aguiar


Current and former members:

A. Pedro Aguiar
Alessandro Rucco
Andrea Alessandretti
Behzad Zamani
Diyako Ghaderyan
Fernando Lobo Pereira
Juan Braga
Majid Khoshrou

Narges Davari
Pedro Sequeira
R. Praveen Kumar Jain
RĂ´mulo Rodrigues
Saurabh Upadhyay
T. Ngoc Ha
Tiago Oliveira

Research Topics

Autonomous robotic vehicles

Motion planning, guidance, navigation and control of single and multiple autonomous robotic vehicles, Localization, SLAM, Vision-based control, Cooperative control.

Optimization-based and optimal control

Model predictive control, Economic Optimization, Convergence and performance certification, Optimal control and motion planning.

Large-scale distributed systems

Structural systems, Structural observability and controllability, Structural Input/Output and Control Configuration Selection.

Nonlinear control and estimation

Limits of performance, Multiple-model adaptive estimators, Minimum-energy estimators, Nonlinear observers.


Virtual Arena

VirtualArena is an open-source Object-Oriented Matlab IDE for Control Design and System Simulation. For more information about this software, visit the dedicated github page.



Dept. Eng. Electrotecnica e de Computadores, sala I-119
Faculdade de Engenharia da Universidade do Porto
Rua Dr. Roberto Frias, s/n
4200-465 Porto, PORTUGAL