Aranda Escolástico, ErnestoCortes, JorgeGuinaldo Losada, MaríaDormido Canto, Sebastián2024-10-082024-10-082018E. Aranda-Escolástico, J. Cortés, M. Guinaldo, S. Dormido. “Underwater coverage with a mobile robot of limited control authority”, European Control Conference (ECC), Limassol (Cyprus), 1088-1093, June, 2018. DOI: 10.23919/ECC.2018.8550093eISBN:978-3-9524-2698-2https://doi.org/10.23919/ECC.2018.8550093https://hdl.handle.net/20.500.14468/23950The registered version of this article, first published in “IEEE Xplore: 29 November 2018", is available online at the publisher's website: IEEE, https://doi.org/10.23919/ECC.2018.8550093 La versión registrada de este artículo, publicado por primera vez en “IEEE Xplore: 29 November 2018", está disponible en línea en el sitio web del editor: IEEE, https://doi.org/10.23919/ECC.2018.8550093This 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.eninfo:eu-repo/semantics/openAccess33 Ciencias Tecnológicasartículo