Jorge Cortés

Professor

Cymer Corporation Endowed Chair




Underwater coverage with a mobile robot of limited control authority
E. Aranda-Escolástico, J. Cortés, M. Guinaldo, S. Dormido
Proceedings of the European Control Conference, Limassol, Cyprus, 2018, pp. 1088-1093


Abstract

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 Newton's method. Numerical simulations are provided to illustrate the efficiency of the algorithm.



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Mechanical and Aerospace Engineering, University of California, San Diego
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cortes at ucsd.edu
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