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Coverage Path Planning for Autonomous Underwater Vehicles COVERAGE PATH PLANNING FOR AUTONOMOUS UNDERWATER VEHICLES Enric Galceran Dipòsit legal: Gi. 898-2014 http://hdl.handle.net/10803/133832 ADVERTIMENT. L'accés als continguts d'aquesta tesi doctoral i la seva utilització ha de respectar els drets de la persona autora. Pot ser utilitzada per a consulta o estudi personal, així com en activitats o materials d'investigació i docència en els termes establerts a l'art. 32 del Text Refós de la Llei de Propietat Intel·lectual (RDL 1/1996). Per altres utilitzacions es requereix l'autorització prèvia i expressa de la persona autora. En qualsevol cas, en la utilització dels seus continguts caldrà indicar de forma clara el nom i cognoms de la persona autora i el títol de la tesi doctoral. No s'autoritza la seva reproducció o altres formes d'explotació efectuades amb finalitats de lucre ni la seva comunicació pública des d'un lloc aliè al servei TDX. Tampoc s'autoritza la presentació del seu contingut en una finestra o marc aliè a TDX (framing). Aquesta reserva de drets afecta tant als continguts de la tesi com als seus resums i índexs. ADVERTENCIA. El acceso a los contenidos de esta tesis doctoral y su utilización debe respetar los derechos de la persona autora. Puede ser utilizada para consulta o estudio personal, así como en actividades o materiales de investigación y docencia en los términos establecidos en el art. 32 del Texto Refundido de la Ley de Propiedad Intelectual (RDL 1/1996). Para otros usos se requiere la autorización previa y expresa de la persona autora. En cualquier caso, en la utilización de sus contenidos se deberá indicar de forma clara el nombre y apellidos de la persona autora y el título de la tesis doctoral. No se autoriza su reproducción u otras formas de explotación efectuadas con fines lucrativos ni su comunicación pública desde un sitio ajeno al servicio TDR. Tampoco se autoriza la presentación de su contenido en una ventana o marco ajeno a TDR (framing). Esta reserva de derechos afecta tanto al contenido de la tesis como a sus resúmenes e índices. WARNING. Access to the contents of this doctoral thesis and its use must respect the rights of the author. It can be used for reference or private study, as well as research and learning activities or materials in the terms established by the 32nd article of the Spanish Consolidated Copyright Act (RDL 1/1996). Express and previous authorization of the author is required for any other uses. In any case, when using its content, full name of the author and title of the thesis must be clearly indicated. Reproduction or other forms of for profit use or public communication from outside TDX service is not allowed. Presentation of its content in a window or frame external to TDX (framing) is not authorized either. These rights affect both the content of the thesis and its abstracts and indexes. Ph.D. Thesis COVERAGEPATHPLANNINGFORAUTONOMOUS UNDERWATERVEHICLES enric galceran 2014 Ph.D. Thesis COVERAGEPATHPLANNINGFORAUTONOMOUS UNDERWATERVEHICLES enric galceran 2014 Doctoral Program in Technology Supervised by: Dr. Marc Carreras Thesis submitted to the University of Girona in fulfillment of the requirements for the degree of Doctor of Philosophy CERTIFICATDEDIRECCI ODETESI´ Dr. Marc Carreras, del Departament d’Arquitectura i Tecnologia de Com- putadors de la Universitat de Girona, declaro: Que el treball titulat Coverage Path Planning for Autonomous Underwater Vehicles, que presenta Enric Galceran per a l’obtencio´ del t´ıtol de doctor, ha estat realitzat sota la meva direccio´ i que compleix els requisits per poder optar a Mencio´ Internacional. I, perque` aix´ı consti i tingui els efectes oportuns, signo aquest document. Girona, Marc¸de 2014 Dr. Marc Carreras To Jordi, Mari and Darija. ACKGRAIHVALIMENTI¨ Han estat moltes les persones que m’han infuenciat, animat i ajudat durant els anys al CIRS que m’han dut a completar aquesta tesi. A totes elles els dec una gran gratitud. La meva llarga llista de gracies` comenc¸a amb el meu director de tesi, en Marc Carreras, que em va donar l’oportunitat d’immergir- me (i no va amb segones) en el meravellos´ mon´ de la robotica` i que sempre m’ha aconsellat amb saviesa, circumspeccio´ i enteniment de la recerca. Aix´ı com en Marc, en Pere Ridao i en David Ribas sempre han estat oberts a dedicar-me temps en interminables discussions sobre la meva recerca. Puc dir vertaderament que ells han estat els meus altres directors de tesi. I am indebted with Howie Choset, who hosted me in his lab at CMU ис Владимиром Ђапићем, ко jе био моj домаћин у NURC-у. When time allowed, Howie provided rigorous and valuable feedback with his deep knowledge of robotics and math. Moreover, he introduced me to the mouth-watering goodness of bagels and cream cheese (I will never forget that first taste). Задовољство jе радити с Владимиром, он ме jе упознао с италиjанским jезиком и тестирао jе моjу издржљивост на мору, у разним временским условима на броду Леонардо, током три недеље проведене на Елби. Els meus companys de laboratori Narc´ıs, Tali, Sharad και ΄Αγγελος han es- tat sempre amablement disposats a ajudar-me quan feia falta una solucio´ efectiva de programacio,´ un pedac¸rapid,` agilitat matematica` ΄ηεμπειρ΄ια (no necessariament` en ordre respectiu). Nuno tambem´ foi com seu extenso con- hecimento de visao˜ computacional. De l’Andres´ i l’Emili n’he apreciat les cruels i necessaries` dosis de realitat que donaren a aquest pobre estudiant al principi dels seus dies de doctorat, sempre assegurant-se que tocava de peus a terra. Un moltes gracies` ben gros va per en Llu´ıs per tenir sempre els robots a punt per fer experiments al mon´ real i per atendre pacientment les meves demandes de configuracio.´ I agraeixo als meus altres companys de labora- tori, Arnau, Albert, Guillem, Jep, Juan David, Carles i Eduard que sempre estiguin a punt per fer-la petar sobre el que sigui. Es´ gracies` a aquests petits interludis que la inspiracio´ apareix a la llarga. I no podria oblidar-me dels altres membres dels equips amb els que vam prendre part a la competicio´ SAUC-E, Miki, Carlos, Simone, , Sebas, Xevi, Simo´ i Pere, quedant cam- pions el 2010 i deixant el llisto´ ben alt el 2011. UWSim, el software de simulacion´ submarina, ha sido una herramienta de crucial importancia en el desarrollo y prueba de los algoritmos de esta tesis. Estoy sinceramente agradecido a sus desarrolladores, especialmente a Mario Prats, por haberlo desarrollado y por proporcionar un valioso soporte a la comunidad de usuarios. Estic agra¨ıt a la Joseta, la Mireia i l’Anna per organitzar els viatges a con- ferencies,` solucionar tot tipus de maldecaps burocratics` i muntar fantastiques` activitats en grup que ens han fet a tots felic¸os. ix Dec un gran agra¨ıment al meu col lega Ricard que, amb el seu poderos´ · kung fu de reconstruccio´ 3D, ha contribu¨ıt elegantment a il lustrar els resul- · tats de cobertura 3D d’aquesta tesi. I agra¨ıt estic als meus amics que estan tambe´ atrapats (o ho estaven, no fa tant) en un doctorat, Masi, Albert Pla, Gerard, Mariano, Pablo, Albert Gubern, Eloy, Pepe, Marc y Sergio per estar nominalment a punt per passar-ho be,´ es tracti de correr,´ padel,` futbol o (sempre inicialment sagaces i cada vegada mes´ divergents) discussions entre cerveses. Na red dolazi Hrvatska mafija, Nikola Miskoviˇ c,´ Dula Nad, Matko Barisiˇ c´ i Damjan Miklic,´ koji su me srcanoˇ ugostili na FER-u i vodili me uokolo za vrijeme mojih posjeta Zagrebu. Takoder Lela, Martina, Masa,ˇ Sanja, Ivana, Hrvoje, Neno i Zdravko zbog kojih sam se tamo osjecao´ kao da sam kod kuce.´ Ako postoji nestoˇ kao Hrvatska mafija, tada je Marin “Stipe” Stipanov, neupitno, capo. Marin je bio moj dobar prijatelj od kad smo se upoznali u NURC-u, te je kontinuirano dokazivao svoju jedinstvenost dijeleci´ samnom svoju neprikosnovenu mudrost, pomazuˇ ci´ mi na mome putu ka prosvjetl- jenju, te vodeci´ me oko, a i preko, granice hrvatskog vokabulara. Nel NURC, Alberto Grati e Stefano Fioravanti mi hanno fatto conoscere Gemellina, l’allegro ASV e Goldrake, il grintoso UUV, e preso cura di me du- rante le mie vacillante esperienze a bordo del CRV Leonardo. Cos`ı ha fatto il resto dell’equipaggio del Leonardo, e Giacomo, Brendan, Brett, Ruben´ and so many others, from the shore, contributed to making my time there such a delightful experience. Also at NURC, Warren Fox, David Williams y Alberto Alvarez made time to review my work and provided fruitful discussions. At CMU, mein Mitbewohner und Laborkollege Florian and lab mates Connie, Dave, Ross, Steve, Khoudor, Nico, Cornell, Евгении, and Matt Tesch always made me feel a true member of the group by showing me around Pittsburgh, bowling at Forward Lanes, helping out with math or going to Hemingway’s, and Glenn Wagner and Matt Travers gave me a boost by re- peatedly ruining my research (although I must admit it did not feel that edifying in the first place). And I also thank the people from pickup ulti- mate and football at CMU (I continue to refuse “soccer”, such an abominable term) for all those wonderful games. In addition, I am grateful to Franz Hover, Brendan Englot, Josh Leighton, Heather Beem, Amy Gao and Eduard Valera for warmly welcoming me at MIT. I appreciate the valuable feedback that Ιωάννης Ρεκλείτης and the anony- mous reviewers of our papers have provided throughout these years. Voldria agra¨ır als contribuents de Catalunya and the EU que hagin donat suport economic` a aquesta tesi amb el seu deute amb la banca.
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