Castillón Sánchez, Miguel (Date of defense: 2023-02-10)
Accurate underwater 3D perception is essential to advance towards the automation of expensive, dangerous and/or time-consuming tasks, such as the inspection, maintenance and repair of off-shore ...
Hernàndez Bes, Emili (Date of defense: 2012-06-15)
This thesis addresses the path planning problem for Autonomous Underwater Vehicles (AUVs) using homotopy classes to provide topological information on how paths avoid obstacles. Looking for a path within ...
Palomeras Rovira, Narcís (Date of defense: 2011-12-19)
The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing ...
Mallios, Angelos (Date of defense: 2014-05-15)
This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based ...
Ribas Romagós, David (Date of defense: 2008-09-29)
Aquesta tesi tracta sobre el problema de la navegació per a vehicles submarins autònoms que operen en entorns artificials estructurats com ara ports, canals, plataformes marines i altres escenaris ...
Palomer Vila, Albert (Date of defense: 2018-11-26)
This thesis presents a SLAM algorithm using a multibeam echosounder, a new 1/2 underwater laser scanner for online 3D perception and two applications of this new laser scanner: inspection and ...
Vallicrosa Massaguer, Guillem (Date of defense: 2018-11-15)
Autonomous Underwater Vehicles (AUVs) true autonomy capabilities in complex unknown environments, have not yet been fully achieved because of the lack of online algorithms that can solve fundamental ...
Bosch Alay, Josep (Date of defense: 2018-10-17)
Omnidirectional vision has received increasing interest during the last decade from the computer vision community. However, the use of omnidirectional cameras underwater is still very limited. In this ...
Himri, Khadidja (Date of defense: 2021-12-10)
In recent decades, the rapid development of intelligent vehicle and 3D scanning tecnologies has led to a growing interest in applications based on 3D point data processing, with many applications such ...
Youakim Isaac, Dina Nagui (Date of defense: 2019-06-21)
A key challenge in autonomous mobile manipulation is the ability to determine in real-time how to safely execute complex tasks when placed in an unknown world. In response to those arising needs in ...