diff --git a/.clang-format b/.clang-format
new file mode 100644
index 0000000000..de824f6dde
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1,46 @@
+---
+Language: Cpp
+BasedOnStyle: LLVM
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakAfterReturnType: All
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Custom
+BreakConstructorInitializers: AfterColon
+ColumnLimit: 100
+PackConstructorInitializers: Never
+ConstructorInitializerIndentWidth: 2
+Cpp11BracedListStyle: false
+IndentCaseLabels: true
+NamespaceIndentation: All
+PointerAlignment: Left
+SpaceBeforeCtorInitializerColon: false
+SpaceBeforeInheritanceColon: false
+SpacesBeforeTrailingComments: 2
+SpaceAfterTemplateKeyword: true
+AlignEscapedNewlines: Left
+FixNamespaceComments: false
+ContinuationIndentWidth: 2
+BraceWrapping:
+  AfterCaseLabel: true
+  AfterClass: true
+  AfterControlStatement: Always
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterObjCDeclaration: true
+  AfterStruct: true
+  AfterUnion: true
+  AfterExternBlock: true
+  BeforeCatch: true
+  BeforeElse: true
+  BeforeLambdaBody: false
+  BeforeWhile: false
+  IndentBraces: false
+  SplitEmptyFunction: false
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+SpaceInEmptyBlock: true
+UseTab: Never
+...
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9afeec5072..3cb88b284f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -437,3 +437,37 @@ endif(TESTS)
 #                                CDash                                   #
 ##########################################################################
 include(Dart)
+
+##########################################################################
+#                             CLANG-FORMAT                               #
+##########################################################################
+find_program(
+  CLANG_FORMAT_EXECUTABLE
+  NAMES "clang-format"
+  DOC "Path to clang-format executable"
+  )
+if(NOT CLANG_FORMAT_EXECUTABLE)
+  message(STATUS "clang-format not found.")
+else()
+  message(STATUS "clang-format found: ${CLANG_FORMAT_EXECUTABLE}")
+  set(DO_CLANG_FORMAT "${CLANG_FORMAT_EXECUTABLE}" -i -style=file)
+endif()
+
+if(CLANG_FORMAT_EXECUTABLE)
+  add_custom_target(
+    clang-format-core-sources
+    COMMAND "${CLANG_FORMAT_EXECUTABLE}" -i -style=file ${DUNE_CORE_HEADERS} ${DUNE_CORE_SOURCES}
+  )
+  add_custom_target(
+    clang-format-programs
+    COMMAND "${CLANG_FORMAT_EXECUTABLE}" -i -style=file ${programs}
+  )
+  add_custom_target(
+    clang-format-tests
+    COMMAND "${CLANG_FORMAT_EXECUTABLE}" -i -style=file ${DUNE_TESTS_SOURCES}
+  )
+  add_custom_target(
+    clang-format-tasks
+    COMMAND "${CLANG_FORMAT_EXECUTABLE}" -i -style=file ${ALL_TASK_SOURCES} ${ALL_TASK_HEADERS}
+  )
+endif()
diff --git a/cmake/Tasks.cmake b/cmake/Tasks.cmake
index 5fedbb00d6..326701cca6 100644
--- a/cmake/Tasks.cmake
+++ b/cmake/Tasks.cmake
@@ -27,6 +27,10 @@
 # Author: Ricardo Martins                                                  #
 ############################################################################
 
+set(ALL_TASK_SOURCES)
+set(ALL_TASK_HEADERS)
+
+
 macro(dune_add_task root_folder task)
   string(REPLACE "/Task.cmake" "" path ${task})
 
@@ -105,6 +109,9 @@ macro(dune_add_task root_folder task)
       file(GLOB TASK_HEADERS ${root_folder}/${path}/*.hpp)
     endif(NOT TASK_HEADERS)
 
+    set(ALL_TASK_SOURCES ${ALL_TASK_SOURCES} ${TASK_SOURCES})
+    set(ALL_TASK_HEADERS ${ALL_TASK_HEADERS} ${TASK_HEADERS})
+
     if(TASK_PROGRAM)
       foreach(task_main_source ${TASK_PROGRAM})
         set(program)
diff --git a/programs/scripts/dune-clang-format.sh b/programs/scripts/dune-clang-format.sh
new file mode 100755
index 0000000000..259a731e55
--- /dev/null
+++ b/programs/scripts/dune-clang-format.sh
@@ -0,0 +1,52 @@
+#!/bin/bash
+############################################################################
+# Copyright 2007-2019 Universidade do Porto - Faculdade de Engenharia      #
+# Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  #
+############################################################################
+# This file is part of DUNE: Unified Navigation Environment.               #
+#                                                                          #
+# Commercial Licence Usage                                                 #
+# Licencees holding valid commercial DUNE licences may use this file in    #
+# accordance with the commercial licence agreement provided with the       #
+# Software or, alternatively, in accordance with the terms contained in a  #
+# written agreement between you and Faculdade de Engenharia da             #
+# Universidade do Porto. For licensing terms, conditions, and further      #
+# information contact lsts@fe.up.pt.                                       #
+#                                                                          #
+# Modified European Union Public Licence - EUPL v.1.1 Usage                #
+# Alternatively, this file may be used under the terms of the Modified     #
+# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md #
+# included in the packaging of this file. You may not use this work        #
+# except in compliance with the Licence. Unless required by applicable     #
+# law or agreed to in writing, software distributed under the Licence is   #
+# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF     #
+# ANY KIND, either express or implied. See the Licence for the specific    #
+# language governing permissions and limitations at                        #
+# https://github.com/LSTS/dune/blob/master/LICENCE.md and                  #
+# http://ec.europa.eu/idabc/eupl.html.                                     #
+############################################################################
+# Author: Jose Pinto                                                       #
+############################################################################
+
+# This script can be used to format all committed source files using 
+# clang-format. It can also be added used as .git/hooks/pre-commit script
+
+format_file() {
+  file="${1}"
+  if [ -f $file ]; then
+    clang-format -i ${1}
+    git add ${1}
+  fi
+}
+
+case "${1}" in
+  --help )
+    echo "Runs clang-format on locally committed source files"
+    ;;
+  * )
+    for file in `git diff-index --cached --name-only HEAD | grep -iE '\.(c|cpp|h|hpp)$' ` ; do
+	    echo "Applying clang-format to ${file}..."
+      format_file "${file}"
+    done
+    ;;
+esac