Thesis

DOCTORAL THESIS: Online Acoustic Localization Methods for Autonomous Underwater Vehicles

By Guillem Vallicrosa Massaguer Supervised by Dr. Pere Ridao   Abstract Autonomous Underwater Vehicles (AUVs) true autonomy capabilities in complex poten-tially unknown environments, have not yet been fully achieved because of the lack of online algorithms that can solve fundamental problems such as localization, mapping and path-planning on-board the AUV…

DOCTORAL THESIS: Underwater Navigation and Mapping with an Omnidirectional Optical Sensor

Underwater Navigation and Mapping with an Omnidirectional Optical Sensor By Josep Bosch Alay Supervised by Dr. Nuno Gràcias / Dr. Pere Ridao Abstract Omnidirectional vision has received increasing interest during the last decade from the computer vision community. A large number of camera models have reached the market to meet...

DOCTORAL THESIS: Glandular Tissue Pattern Analysis Through Multimodal MRI-Mammography Registration

Glandular Tissue Pattern Analysis Through Multimodal MRI-Mammography Registration By Eloy García Marcos Supervised by Dr. Joan Martí Bonmatí / Dr. Arnau Oliver Malagelada Abstract Breast cancer is the most common cancer in women worldwide. Current statistics show that one in eight women will develop this disease over the course of...

Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints

Doctoral thesis “Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints” By Juan David Hernández Vega Supervised by Dr. Marc Carreras   Abstract Thesis submitted to the University of Girona in fulfillment of the requirements for the degree of Doctor of PhilosophySince their beginning in the late 1950s, the…

Robot Learning applied to Autonomous Underwater Vehicles for intervention tasks

Doctoral thesis “Robot Learning applied to Autonomous Underwater Vehicles for intervention tasks” By Arnau Carrera Viñas Supervised by Marc Carreras, Narcís Palomeras and Petar Kormushev   Abstract The interest in performing underwater tasks using AUVs has been growing over the past few decades. The initial focus was on the exploration…