Pith Number

pith:XBQYUMSV

pith:2026:XBQYUMSVUU3ICF4ZOQJLQ6KKYC

not attested not anchored not stored refs resolved

Multi-Depth Uniform Coverage Path Planning for Unmanned Surface Vehicle Surveying

Izaro Goienetxea, Jaime Valls Miro, Maider Larrazabal, Tong Yang

An algorithm for USV bathymetry surveys adapts path spacing and sensor range to depth variations for uniform seafloor coverage over 99 percent.

arxiv:2605.13123 v1 · 2026-05-13 · cs.RO

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Claims

C1strongest claim

The proposed algorithm designs a coverage path with optimised spacing between survey passes that adjusts the sensing beam aperture to achieve more consistent seafloor coverage, with coverage ratios beyond 99% in synthetic terrains and over 92% in realistic simulations using real bathymetric data.

C2weakest assumption

The method assumes that coarse prior depth information is available and sufficiently accurate to pre-process the target region and guide adaptive path generation and sensing range configuration without introducing large errors in coverage prediction.

C3one line summary

An adaptive coverage path planner for multibeam bathymetry that uses prior depth maps to vary pass spacing and beam settings, achieving over 99% synthetic and 92% real-world seafloor coverage versus under 75% and 65% for standard boustrophedon paths.

References

39 extracted · 39 resolved · 0 Pith anchors

[1] Application of unmanned surface ve- hicles in coastal environments: Bathymetric survey using a multibeam echosounder, 2020

[2] Evolution of algorithms and applications for unmanned surface vehicles in the context of small craft: A systematic review 2024

[3] A survey on coverage path planning for robotics, 2013

[4] Coverage of known spaces: The boustrophedon cellular decomposition, 2000

[5] Energy-aware spiral coverage path planning for uav photogrammetric applications, 2018

Receipt and verification

First computed	2026-05-18T03:08:57.928238Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b8618a3255a5368117997412b8794ac08bb8281094cf9a247d2b8353f8beb158

Aliases

arxiv: 2605.13123 · arxiv_version: 2605.13123v1 · doi: 10.48550/arxiv.2605.13123 · pith_short_12: XBQYUMSVUU3I · pith_short_16: XBQYUMSVUU3ICF4Z · pith_short_8: XBQYUMSV

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/XBQYUMSVUU3ICF4ZOQJLQ6KKYC \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: b8618a3255a5368117997412b8794ac08bb8281094cf9a247d2b8353f8beb158

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8e2f8ed9d975abae93d7a7aca383333bd6447928195f16acf19d453f22b18deb",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T07:48:29Z",
    "title_canon_sha256": "092c96e266bebd0837b3edaf37d3ad1dec9314f092e9db38dfe66beb274bb085"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13123",
    "kind": "arxiv",
    "version": 1
  }
}