PhD Thesis

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 of underwater areas, performing survey trajectories harvesting data to build bathymetric maps or photo-mosaics. Later the focus of research switched to performing inspections of underwater structures or elements (e.g., pipelines) which required more complex behaviours and localization methods. Advances in these fields have awakened the interest of the community in using AUVs to…