The project main objective is the development of efficient methods for dealing with uncertainties in robotic systems, and, in particular, teams of multiple robots. One of the objectives is the development of an scalable cooperative perception system able to reason on the uncertainties associated to the sensing system in the multi-robot platform. The efficient application of online Partially Observable Markov Decision Processes (POMDPs) to this problem will be analyzed. In the project, we aim to demonstrate these techniques in real robotic systems for applications like surveillance.