Planning the Operations of a Group of Autonomous Unmanned Underwater Vehicles Based on a Carrier Vessel as a Solution for Multiple Traveling Salesmen Problem With Some Restrictions

We regard monitoring of a river or water basin. We propose a method for calculating the work carried out as part of this activity. A group of autonomous unmanned underwater vehicles (AUVs), accompanied by a carrier vessel, do the job based on a two-level model. Examples of monitoring are given for arbitrarily located inspection points using the mathematical apparatus of multiple traveling salesmen problem with some restrictions.