Reachability Analysis of an Underwater Robot with Ballast

When we run a mission with autonomous robots, for security reasons, it is fundamental to guarantee that the state of robot will not enter in a forbidden zone and that it will reach the target area. This problem corresponds to a reachability problem that will be addressed with set-membership uncertainties. In this paper, we show how a serial decomposition can be done to facilitate the resolution. An application related to an underwater robot with a ballast is provided.