Balsa, CarlosVictoria Otero-EspinarSílvio Gama2026-03-232026-03-232024Balsa, C.; Otero-Espinar, V.; Gama, S. (2023) An Approach to Environmental Cleanup through Conceptual Autonomous Technology . In Proceedings of TEEM 2023. Springer Nature. ISNN 2196-4963, p. 582-591.97898197181392196-4963http://hdl.handle.net/10198/36219This work presents a mathematical toy model for a process of garbage collection encompassing the coordination of a vast array of autonomous devices, where each device needs only a few trajectory adjustments. This simplified conceptual model serves as a valuable tool for both educational and initial research purposes. In this model, each autonomous device is represented by a passive particle, while the environmental currents are depicted by the dynamic behavior of point vortices on a spherical surface. In order to maintain device autonomy, a system of piecewise constant controls is utilized, which involves a limited set of predetermined switching points to adjust the trajectory. Each control incurs an energy expense, and the model aims to minimize this cost by solving a nonlinear optimization problem. The preliminary findings suggest the presence of multiple potential trajectories for autonomous devices, each associated with different energy costs.engNonlinear optimizationAutonomous systemsOptimal controlbook part10.1007/978-981-97-1814-6_57