TY  - CONF
T1  - Underwater coverage with a mobile robot of limited control authority
A1  - Aranda Escolástico, Ernesto
A1  - Cortés, J
A1  - Guinaldo, M
A1  - Dormido, Sebastian
TI  - 2018 17th European Control Conference (ECC)
Y1  - 2018
PB  - IEEE
CY  - Limassol, Cyprus
M2  - doi: 10.23919/ECC.2018.8550093
N2  - This work considers the coverage of underwater areas with a mobile robot with constrained control and communication capabilities. While underwater, the robot can control its depth but it is subject to flow in the other directions. While on the surface, it can move (essentially) freely. The aim of the work is the coverage of the areas with the minimum waste of resources. For that, we propose a two-part algorithm, where one part is a genetic algorithm and the other part is an algorithm based on Netwton's method. Numerical simulations are provided to illustrate the efficiency of the algorithm.
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