Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: AUV Optimal Path for Leak Detection   This paper studies an optimal autonomous underwater vehicule (AUV) path
planning method for both reducing average delay before pollutants detection in
underwater mining, oil or gas fields and reducing AUV occupancy time. The
proposed technique, based on the bayesian search theory framework and
multi-objective optimization, extracts optimal boustrophedon paths for leak
detection in complex environment. We describe a multi-objective nonlinear mixed
integer optimization model for both reducing global nondetection probability
and path duration. We then propose a hierarchical algorithm combining two
functions. The main function is a multi-objective cross entropy which places
the tracklines. The second function sets the optimal speeds on each trackline
by means of an interior point method. Numerical simulations show that the
proposed framework is a very promising approach because the optimal paths cross
spill of highly probable leaks before less probable ones. We show that our
optimized paths outperform boustrophedon paths of same duration with uniform
speed and spacing of trackline. Thanks to Pareto efficiency approach, our tool
propose optimal trajectories for numerous AUV autonomies. Hence it can be used
for both real time path planning and design purpose.

30
The categories of this paper are: q-alg
23
The categories of this paper are: solv-int
3
The categories of this paper are: physics
20
The categories of this paper are: acc-phys
17
The categories of this paper are: q-fin
15
The categories of this paper are: nucl-ex
32
The categories of this paper are: atom-ph
19
The categories of this paper are: eess
22
The categories of this paper are: chao-dyn
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
7
The categories of this paper are: hep-th
36
The categories of this paper are: cmp-lg
21
The categories of this paper are: adap-org
29
The categories of this paper are: funct-an
8
The categories of this paper are: hep-ex