Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: An Efficient Hybrid Route-Path Planning Model For Dynamic Task
  Allocation and Safe Maneuvering of an Underwater Vehicle in a Realistic
  Environment   This paper presents a hybrid route-path planning model for an Autonomous
Underwater Vehicle's task assignment and management while the AUV is operating
through the variable littoral waters. Several prioritized tasks distributed in
a large scale terrain is defined first; then, considering the limitations over
the mission time, vehicle's battery, uncertainty and variability of the
underlying operating field, appropriate mission timing and energy management is
undertaken. The proposed objective is fulfilled by incorporating a
route-planner that is in charge of prioritizing the list of available tasks
according to available battery and a path-planer that acts in a smaller scale
to provide vehicle's safe deployment against environmental sudden changes. The
synchronous process of the task assign-route and path planning is simulated
using a specific composition of Differential Evolution and Firefly Optimization
(DEFO) Algorithms. The simulation results indicate that the proposed hybrid
model offers efficient performance in terms of completion of maximum number of
assigned tasks while perfectly expending the minimum energy, provided by using
the favorable current flow, and controlling the associated mission time. The
Monte-Carlo test is also performed for further analysis. The corresponding
results show the significant robustness of the model against uncertainties of
the operating field and variations of mission conditions.

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The categories of this paper are: physics
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The categories of this paper are: nucl-th
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The categories of this paper are: math
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The categories of this paper are: supr-con
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The categories of this paper are: stat
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The categories of this paper are: math-ph
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The categories of this paper are: q-bio
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The categories of this paper are: hep-th
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The categories of this paper are: bayes-an
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The categories of this paper are: patt-sol
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The categories of this paper are: astro-ph
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The categories of this paper are: chem-ph
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The categories of this paper are: cond-mat
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The categories of this paper are: eess
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The categories of this paper are: q-fin
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The categories of this paper are: funct-an