This book gathers a selection of papers presented at ROBOT 2019 - the Fourth Iberian Robotics Conference, held in Porto, Portugal, on November 20th-22nd, 2019. ROBOT 2019 is part of a series of conferences jointly organized by the SPR - Sociedade Portuguesa de Robótica (Portuguese Society for Robotics) and SEIDROB - Sociedad Española para la Investigación y Desarrollo en Robótica (Spanish Society for Research and Development in Robotics).

Design Optimization of a Ducted-Drone to Perform Inspection Operations.- Positioning System for Pipe Inspection with Aerial Robots Using Time of Flight Sensors.- Online Detection and Tracking of Pipes during UAV Flight in Industrial Environments.- Autonomous Drone-Based Powerline Insulator Inspection Via Deep Learning.- Development of A Semi-Autonomous Aerial Vehicle for Sewarage Inspection.- Cleaning Robot for Free Stall Dairy Barns: Sequential Control for Cleaning And Littering of Cubicles.- An Autonomous Guided Field Inspection Vehicle for 3D Woody Crops Monitoring.- Joint Instance Segmentation of Obstacles and Lanes Using Convolutional Neural Networks.- Acoustic Detection of Tagged Angelsharks from an Autonomous Sailboat.- Spherical Fully Covered UAV with Autonomous Indoor Localization.- Knowledge and Capabilities Representation for Visually Guided Robotic Bin Picking.- Web Based Robotic Simulator for Tactode Tangible Block Programming System.- Development of an Autonomous Mobile Towing Vehicle for Logistic Tasks.