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Curriculum Vitae

Robotics Researcher | Autonomous Mobile Robots | Research to Industrial Deployment

Robotics researcher who takes Simultaneous Localization and Mapping (SLAM) algorithms and navigation stacks for Autonomous Mobile Robots (AMRs) from the research prototype stage to the factory floor. Creator of the RicoSLAM framework (https://github.com/INESCTEC/ricoslam). Deployment of SLAM algorithms and autonomous navigation stacks on-site at 5+ companies and several industrial sites. Built research mobile robotic platforms and contributed to the IILABS 3D — iilab Indoor LiDAR-based SLAM dataset (DOI: 10.1109/ACCESS.2025.3643753). Author of 16 peer-reviewed publications (5 journal, 11 conference), including a Best Paper Award.

Experience

INESC TEC — Institute for Systems and Computer Engineering, Technology and Science (Porto, Portugal)

  • Researcher (April 2023 — Present)
  • Graduate Research Scholarship (September 2020 — March 2023)
  • Highlights:
    • Created RicoSLAM, a graph SLAM framework for dynamic industrial environments (PhD Thesis, GreenAuto project), built around a distance map-based tracking front-end and the srrg2_solver optimization back-end, with online/offline dynamics filtering through ray tracing, enabling AMRs to perform SLAM in highly dynamic, noisy environments while generating cleaner maps for autonomous operation
    • Deployed RicoSLAM in a real-world container unloading use case (MC Sonae), enabling the AMR to localize itself inside the container, not possible with the currently available open-source solutions (ICARA 2026)
    • Deployed and tuned SLAM solutions (Cartographer, GMapping, RicoSLAM, SLAM Toolbox) and INESC TEC's autonomous navigation stack at six industrial companies (Aumovio Advanced Antenna — former Continental Antenna, CTT, IDEPA, JPM Industry, MC Sonae, and WFSCork), improving mapping results and localization stability for autonomous AMR operation
    • Built the multimodal perception framework on the Hangfa Discovery Q2 omnidirectional robots from scratch (3D modelling, electronics, firmware, network architecture, multimodal sensor integration, and ROS drivers) adopted by INESC TEC researchers across control, fleet management, pallet detection, and 2D/3D SLAM (ICARSC 2025)
    • Led the first national pilot of AMR teleoperation over 5G networks, in collaboration with Flowbotic and NOS SGPS (ROBOT 2024)
    • Co-created the IILABS 3D dataset (wheeled odometry, IMU, four 3D LiDARs, and millimeter-precision OptiTrack ground truth) and benchmarked 9 state-of-the-art LiDAR odometry/SLAM algorithms (IEEE Access 2025)
    • Developed a CANopen (CiA 402) motor driver, deployed on 10+ AMRs from INESC TEC and JPM Industry
    • Contributed to a pallet and metallic box detection pipeline (RGB-D, YOLO ONNX in C++), enabling autonomous load handling in logistics and automotive use cases (ROBOT 2024)
    • Built a C++ Gerber file parser (recursive descent approach) for industrial printing-on-surfaces applications (IEEE Access 2022)
    • Contributed to four national projects (5G & Digital Transformation Test Bed, GreenAuto, PRODUTECH R3, VINCI 7D) with a total institutional financial impact of +5M€
  • Team Leader: Héber Miguel Sobreira, PhD (heber.m.sobreira@inesctec.pt)

Visiting Researcher @ Sapienza Università di Roma (Rome, Italy)

  • February 2024 — July 2024
  • Research Topics:
    • Distance map-based point-to-point and point-to-plane registration, leveraging 1st- and 2nd-order derivatives of distance fields
    • Covariance estimation for registration approaches, derived from the approximated Hessian matrix of the Gauss-Newton solver and from the Unscented Transform
    • Design and evaluation of factor graph constraint formulations (pose and prior constraints, landmark observations, global bundle adjustment)
    • Integration of the registration formulations into the srrg2_solver factor graph framework, implementing custom SE(2) pose and registration constraints
    • Ray tracing approach to remove dynamic points from scan cloud data prior to registration
  • Supervisor: Prof. Dr. Giorgio Grisetti (grisetti@diag.uniroma1.it)

Invited Assistant @ Faculty of Engineering, University of Porto (FEUP) (Porto, Portugal)

  • September 2021 — August 2023
  • Courses:
    • Software Design (MSc in ECE) (2021/22 1ºS, 2022/23 1ºS)
    • Industrial Informatics (MSc in ECE) (2021/22 2ºS, 2022/23 2ºS)
  • Supervisors:

Clarinet Teacher @ Escola de Música da Sociedade Filarmónica de Crestuma (Porto, Portugal)

Trainee Assistant @ Faculty of Engineering, University of Porto (FEUP) (Porto, Portugal)

Tutor @ Faculty of Engineering, University of Porto (FEUP) (Porto, Portugal)

  • September 2019 — November 2019
  • Course: Project FEUP (BSc in ECE)

Education

PhD Candidate in ECE @ Faculty of Engineering, University of Porto (FEUP) (Porto, Portugal)

  • February 2021 — Present
  • GPA: 18.40/20 (curricular courses)
  • PhD Thesis: RicoSLAM: Localization and Mapping in Dynamic Environments (submitted June 2026)
  • Supervisors:

MSc in ECE @ Faculty of Engineering, University of Porto (FEUP) (Porto, Portugal)

  • September 2015 — July 2020
  • GPA: 18.20/20 (1st highest among the 149 students completing the ECE degree at FEUP in 2019/2020)
  • MSc Thesis in Odometry and Extrinsic Sensor Calibration on Mobile Robots (DOI: 10.13140/RG.2.2.27052.28802)
  • Supervisors:

Scientific-Technological Course in Industrial Electronics and Automation @ Colégio de Gaia (Porto, Portugal)

  • September 2012 — July 2015
  • GPA: 19.1/20.0
  • Technological Final Project on an Automated Hydroponic in a Controlled-Environment Room

Secondary Music Course in Clarinet @ Fundação Conservatório Regional de Gaia (Porto, Portugal)

Skills

  • Programming: C++, Python, MATLAB / Octave, SQL
  • Robotics & Middleware: ROS 1 & ROS 2, Gazebo, srrg2_solver (factor graph SLAM)
  • Libraries: Eigen, OpenCV, PCL, Boost, kacanopen
  • Methods: Factor graph SLAM, EKF / UKF, point cloud registration (ICP, distance maps), sensor and odometry calibration
  • Tooling: Git, GitHub Actions (CI/CD), CMake, GoogleTest, Docker, Bash, Linux
  • Writing: LaTeX, Typst
  • Speaking: Native Portuguese, Fluent English

Projects

5G & Digital Transformation Test Bed

GreenAuto: Green innovation for the Automotive Industry

  • April 2023 — June 2026
  • ID: 02/C05-i01.02/2022.PC644867037-00000013
  • Research Topics: Automatic Pallet Detection, Long-Term Localization and Mapping with Mobile Robots, Multi-Robot Coordination

PRODUTECH R3 (Recovery-Resilience-Reindustrialisation): Production Technologies Cluster Mobilising Agenda for Reindustrialisation

VINCI 7D Functional Print

  • September 2020 — August 2021
  • ID: POCI-01-0247-FEDER-045102
  • Research Topics: Gerber File Parsers, 2D-3D Projection of Electronic Circuits and Decorations

See more in Projects.

Publications

5 journal articles and 11 conference papers in total.

Lopes, M.S., Cordeiro, A., Sousa, R.B., Beça, J.A., Costa, P.G., Souza, J.P., & Silva, M.F. (2026). CARGO: A Mobile Manipulator Solution for Container Unloading. In: 2026 12th International Conference on Automation, Robotics and Applications (ICARA), pp. 274—279. DOI: 10.1109/ICARA69401.2026.11480416

Ribeiro, J.D., Sousa, R.B., Martins, J.G., Aguiar, A.S., Santos, F.N., & Sobreira, H.M. (2025). Indoor Benchmark of 3D LiDAR SLAM at iilab - Industry and Innovation Laboratory. IEEE Access, 13:212421—212442. DOI: 10.1109/ACCESS.2025.3643753

Sousa, R.B., Sobreira, H.M., Martins, J.G., Costa, P.G., Silva, M.F., & Moreira, A.P. (2025). Integrating Multimodal Perception into Ground Mobile Robots. In: 2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 104—111. DOI: 10.1109/ICARSC65809.2025.10970176

Sousa, R.B., Rocha, C.D., Martins, J.G., Costa, J.P., Padrão, J.T., Sarmento, J.M., Carvalho, J.P., Lopes, M.S., Costa, P.G., & Moreira, A.P. (2024). A Robotic Framework for the Robot@Factory 4.0 Competition. In: 2024 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 66—73. DOI: 10.1109/ICARSC61747.2024.10535935

Sousa, R.B., Sobreira, H.M., & Moreira, A.P. (2023). A systematic literature review on long-term localization and mapping for mobile robots. Journal of Field Robotics, 40(5):1245—1322. DOI: 10.1002/rob.22170

Sousa, R.B., Petry, M.R., Costa, P.G., & Moreira, A.P. (2022). OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots. Journal of Intelligent & Robotic Systems, 105(39). DOI: 10.1007/s10846-022-01630-3

Sousa, R.B., Rocha, C.D., Mendonça, H.S., Moreira, A.P., & Silva, M.F. (2022). Gerber File Parsing for Conversion to Bitmap Image — The VINCI7D Case Study. IEEE Access, 10:69659—69679. DOI: 10.1109/ACCESS.2022.3187042

See more in Publications.

Awards

Best Paper Award for the work A Robotic Framework for the Robot@Factory 4.0 Competition at the 2024 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Paredes de Coura, Portugal, May 2024.

Best Presenter Award in the Session Topic Model-based System Design, Parameter Optimization, and Data Measurement for the paper Line Fitting-Based Corner-Like Detector for 2D Laser Scanners Data at the 10th International Conference on Automation, Robotics, and Applications (ICARA), Athens, Greece, February 2024.

1st and 2nd places at the Robot@Factory 4.0 competition of the Portuguese Robotics Open (FNR) 2023, Tomar, Portugal, May 2023.

1st place at the Robot@Factory 4.0 competition of the Portuguese Robotics Open (FNR) 2022, Santa Maria da Feira, Aveiro, Portugal, May 2022.

ABB 2020 Award relative to the M.Sc. thesis with the best classification developed on one of the following themes: Renewable Energies, Industrial Automation, or Robotics.

See more in Awards.