develop a software to measure swimming pool size, develop a smart cleaning pattern for the robot to follow

private swimming pools are often cleaned with pool robots.
We want to develop a pool robot which can establish the pool size and shape under water (by means of under water sensor) and develop an efficient cleaning pattern. Then automatically execute the program requested (floor, waterline, wall cleaning and everything together). The robot can orientate itself in horizontal and vertical axis, knows it position relative to the pool at all times and can be picked up after job done and hauled out of the pool by the user. Robot can also be individually guided to certain spots/ stop/ start/ turn via remote control superseding the current program. Experience with underwater sensor, ultra sound sensor a definitive advantage, need to see relevant work details which makes me believe you are up for the job.
Project will end with the acceptance of a robot life performance in 2 different shaped swimming pools, size about 40m2 each.