Programing NIOS II with UART

I'm currently working with a mobile robot embedding a DE0-Nano board with a NIOS II. I need some debug (printf) but the usb cable is a problem due to the mobility of the robot.

I plan to use an ARM-based computer running Linux (like the Raspberry Pi or the BeagleBone Black) with a wifi dongle, connected with an UART to my DE0-Nano.

However, the usb cable remains necessary to program the NIOS as I think I can't install quartus on an ARM-based computer.

Is it possible to program the NIOS II with the UART link ?

(the hardware part is stored in the EPCS)

If yes, how ?

Maybe is there a better way ?