Universidad Politécnica de Madrid Departamento de Ingeniería Telemática y Electrónica Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things Author: Néstor Lucas Martínez, MSc Supervisor: José Fernán Martínez Ortega, PhD This dissertation is submitted for the degree of PhD. in Systems and Services Engineering for the Information Society Escuela Técnica Superior de Ingeniería y Sistemas de Telecomunicación March 2021 DOCTORADO EN INGENIERÍA DE SISTEMAS Y SERVICIOS PARA LA SOCIEDAD DE LA INFORMACIÓN Tesis Doctoral Título Contributions to Adaptive Mission Planning for Cooperative Robotics in the Internet of Things Autor Néstor Lucas Martínez VºBº Director Dr. José-Fernán Martínez Ortega Tribunal Presidente M. Encarnación Pastor Martín Secretario Lourdes López Santidrián Vocal Celeste Campo Vázquez Vocal Miguel Ángel López Carmona Vocal Roemi Emilia Fernández Saavedra Suplente Juan Ramón Velasco Pérez Suplente Rodolfo E. Haber Guerra Lugar de lectura E.T.S.I. y Sistemas de Telecomunicación (U.P.M.) Fecha de lectura Calificación El Presidente El secretario Los vocales Tesis Doctoral para la obtención del título de Doctor por la Universidad Politécnica de Madrid This Ph.D. Thesis is dedicated to my family and friends. With a special memory to all the people affected by the COVID-19 global pandemic. Declaration I hereby declare that except where specific reference is made to the work of others, the contents of this dissertation are original and have not been submitted in whole or in part for consideration for any other degree or qualification in this, or any other university. This dissertation is my own work and contains nothing which is the outcome of work done in collaboration with others, except as specified in the text and Acknowledgements. This dissertation contains fewer than 80,000 words including appendices, bibliography, footnotes, tables and equations and has fewer than 150 figures. Néstor Lucas Martínez, MSc March 2021 Acknowledgements I would like to share with you part of my journey to reach this dissertation. One could say that it all started when I was a little kid. One of my first memories is about wondering about how things worked, always looking and asking for understandable and useful information. My parents always encouraged me to do so, as some of my teachers did too. I remember searching and reading about mathematics, physics, and when I got my first computer, technology. Being a teenager I learned the basics of computer programming. I even read some books and computer magazines where they talked about artificial intelligence, and I learned some basic concepts about tree search and expert systems. I also was interested in electronics and communications, and despite not knowing at the time the exact definition of “telematics” (coined in the Nora-Minc report, as I learned later), I decided to continue my studies with a Telecommunications Engineering degree majoring in Telematics. At the same time, I was admitted to the university, I was also admitted as a civil defense volunteer in the Madrid civil defense volunteer corps. As a volunteer I was promoted multiple times, assuming increasing responsibilities, which included coordinating ser- vices and managing other volunteers. It was during this time when I learned about the importance of “mission management for multiple agents” in environments where adaptation to the context was required. Going back to the academic part, I always wanted to do a PhD and dedicate myself to teaching and research. At the time I entered university, following this path was quite complicated, since there were hardly any opportunities. Time passed and I wondered what I would do when I got my undergraduate degree. I was not attracted to most of the job possibilities at the time, and the opportunities to pursue a PhD, or even just doing some research were scarce. But I had to finish my studies, and to do so, I had to do my final project. Looking for offers to do my final degree project, one of them caught my attention. It was about doing some work related to ubiquitous computing, and with the possibility of continuing after graduation. I applied, and the professor in charge of the offer called me to interview me. I will always remember that interview. As I said before, I was not too interested in the usual job offers I could find related to my studies. The main reason was that they were essentially related to just programming at upper layers, with little to no relation to telematics. However, this professor explained to me what they were doing in their research group. Without knowing it, it was precisely what I had been looking for. But there was more. Once we agreed on doing my final project with them, he also asked me about my interest in pursuing a PhD. You can figure out that I was more than pleased to answer that question, confirming my interest. That is when I started my research career at the Next-Generation Networks and Services research group (GRyS), and the professor that interviewed me was José Fernán Martínez, or JF, as we all call him, and who is now my thesis supervisor. Few years have passed since then. I have got a MSc in Systems and Services Engineer- ing while working at GRyS. I have participated in several European research projects, traveling around Europe for meetings, developments, integrations and demonstrations. I have met a lot of interesting people from whom I have learned a lot. As if that were not enough, in recent years I have also had the opportunity to carry out some teaching collaborations. And I have experienced that I really like both, teaching and researching. I hope that this dissertation is not just the end of this journey, but just a required milestone to continue enjoying and learning doing research and teaching, and with my colleagues and students. In closing, and making a good use of the title of this section, I would like to express the following acknowledgements: • To my parents, Mayka and Clemente, for always supporting me, despite not having a background either in science or engineering. Just by feeding my curiosity they were able to guide me here. • To Mónica, my partner in life, my significant other, for always being there, in good times and in bad times. • To my friend-like-a-brother Antonio and his significant other, Cristina, for all the good that it means to me to have both of you by our side. • To JF, I mean, “Professor José Fernán Martínez”, for the opportunity he has given me to carry out this thesis under his supervision, and for the infinite patience he has shown me during the whole process of writing this thesis. • To the rest of the current members of the GRyS team, in no particular order: Lour- des, Pedro, Gregorio, Sara, José Antonio, Mario, Marta, and especially Vicente, with whom I have spent great time in all the projects in which we have collaborated, and with whom I have a pending ping pong game when we have the opportunity to do so. • To the former members of the GRyS team, in no particular order: Daniel, Victoria, David, Carlos, José Antonio, Rubén, Esther, Alexandra, Jesús, and especially – x – Raúl, from whom I learned a lot about self-adaption, control systems, and also about music and other things we talked about in our spare time together. • To our former Chinese colleagues at GRyS, Huang Yuanjiang, Xin Li, Ning Li, Xin Yuan, Chen Yuwen and Zhaoyu Zhai. To all of them I want to say ^8感"`的一 切1 and 很高t与¨合\2. In the same sense, to our former colleague Saloum Jimbara, with whom I shared nice conversations and experiences while he was finishing his Master degree with us. • To all the researchers and developers that I have met during my work in the several projects I have already participated in. The list is too long, but I would like to at least mention the following people: – My colleagues at the Mälardalen University (MDH), especially my friends Afshin, Gita, Branko and Jean. No one will ever understand us when we laugh just talking about hot dogs. And let me tell you this: our game nights have been really helpful to disconnect, at least briefly, when I was doing the final changes to this manuscript. – Sonia, Belén, and the rest of the people from Tecnalia I worked with in the SWARMs and AFarCloud projects. It really has been a pleasure working with you, and I look forward to meeting you again in further projects. – Coen, Yolanda, Julio, Stefano, Roshan, Soumya and with a special mention to †Zoltan for always welcoming us so well when we traveled to The Hague for the integrations of the DEMANES project. – Christophe, Natividad, Félix, Víctor Manuel, María, Rubén, Raimon, Carlos, Josep, Marc, Joan, Natxo, Miguel Lláçer and Miguel Montesinos for their support during the integrations of the WoO project. • To my co-students during my master degree complementary subjects: – Alejandro Duque, who was my partner in “Diseño Digital I”, with whom I spent countless moments talking and preparing the activities of the subject. – David Teva, who was my partner in “Diseño Digital II”, sharing the moments of stress during the final project for the subject. – Jorge Montes, who was my partner in “Sistemas Basados en Microproce- sador”, and who has also become my friend, and with whom I can have a nice technical conversation, or a funny geek talk. 1Thank you very much for everything. 2It has been a pleasure working with you. – xi – • To Jorge García Paredes, who did his final degree project with us in relation to the contents of this thesis, resulting in interesting and fruitful conversations that helped me to advance with my dissertation.