This class is meant for fisheries inspection and control duties mainly in the Mainland Portugal shores – with some sporadic presence in the Madeira Archipelago.

The Centauro class is Portuguese-designed and built at the Arsenal do Alfeite (Almada) and Estaleiros Navais do Mondego (Figueira da Foz).

[2][3][b] The vessels are powered by two Cummins KTA-50-M2 diesel engines turning two shafts creating 2,700 kilowatts (3,600 hp).

[4] Upon entering service, the vessels were deployed for fisheries protection, search and rescue and general patrol.

[3] In 2006, one boat of this class, NRP Sagitário, became the first Portuguese warship with a female commander, the second lieutenant Gisela Antunes.