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AUV Adaptive Sampling Methods: A Review

Jimin Hwang, Neil Bose, Shuangshuang Fan
2019 Applied Sciences  
Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions.  ...  Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations.  ...  Mapping (Field Estimations) Another important objective of a sampling mission using an AUV is a field estimation.  ... 
doi:10.3390/app9153145 fatcat:syoqjvjw5jebfktuoo25anhepm

Adaptive sampling algorithms for multiple autonomous underwater vehicles

D.O. Popa, A.C. Sanderson, R.J. Komerska, S.S. Mupparapu, D.R. Blidberg, S.G. Chappel
2004 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)  
Sampling is a critical problem in the observation of underwater phenomena using single or multiple AUV platforms.  ...  In order to test our algorithms we have created the MATCON simulation environment, an underwater experimental platform using solar AUVs, and a land-based experimental testbed using inexpensive wheeled  ...  CONCLUSION AND FUTURE WORK In this paper we formulated an estimation-based approach for the problem of adaptive sampling using multiple AUVs.  ... 
doi:10.1109/auv.2004.1431201 fatcat:xn7hask3uvf67adwonk7zno34m

Cooperative Vehicle Environmental Monitoring [chapter]

Naomi Ehrich Leonard
2016 Springer Handbook of Ocean Engineering  
Indeed, the demonstrated potential of cooperative vehicle control has led to increased demand for fleets of autonomous underwater vehicles (AUVs) for use in measuring ocean physics, biology, chemistry  ...  Unprecedented data sets have been collected from deployments of cooperative vehicles in the field, and both real-time and post-deployment analyses have led to new understanding of the environment.  ...  In [28] the objective was to use multiple AUVs as an imaging system.  ... 
doi:10.1007/978-3-319-16649-0_19 fatcat:kalusv72r5avnpw3nk7uetpwui

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques

Behzad Bayat, Naveena Crasta, Alessandro Crespi, António M. Pascoal, Auke Ijspeert
2017 Current Opinion in Biotechnology  
In this task, the aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous  ...  Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles  ...  The key idea of this algorithm was to transform the detected turbulent flow field into a smooth scalar field in order to make the gradient well defined.  ... 
doi:10.1016/j.copbio.2017.01.009 pmid:28254670 fatcat:tswktuwn2vactabf23ibbyeham

Autonomous underwater vehicle navigation using moving baseline on a target ship

A Folk, B Armstrong, E Wolbrecht, H F Grip, M Anderson, D Edwards
The second method uses two EKFs, one to estimate the state of the target ship, and a second to estimate the state of the AUV itself. Both methods performed similarly in simulation.  ...  Further simulations utilizing field test data showed the global approach to be more robust to the target ship dynamics and message broadcast timing cycle.  ...  ACKNOWLEDGMENT The authors acknowledge contributions from the Office of Naval Research, "Electromagnetic Signature Assessment System Using Multiple Autonomous Underwater Vehicles (AUVs)", ONR N00014-08  ... 
doi:10.1109/oceans.2010.5664462 fatcat:tzxg3bjotjeazbqpxhbzfagafi

A data assimilation framework for data-driven flow models enabled by motion tomography

Dongsik Chang, Catherine R. Edwards, Fumin Zhang, Jing Sun
2019 International Journal of Intelligent Robotics and Applications  
The proposed data assimilation framework for the GEM is demonstrated through simulations using two flow fields with different characteristics: (i) a double-gyre flow field and (ii) a flow field constructed  ...  by using real ocean surface flow observations from high-frequency radar.  ...  Then, (14) becomes The motion-integration error has been used to estimate a flow field in the vicinity of an AUV that does not measure ambient flow directly.  ... 
doi:10.1007/s41315-019-00092-5 fatcat:dp54ujy4bzabvdcnkgt4qgvjfq

Hierarchical underwater localization in dominating background flow fields

Zhuoyuan Song, Kamran Mohseni
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The domination of strong ocean currents and the requirement of low power consumption prohibit AUVs to move against a background flow to obtain localization correction in a timely manner.  ...  The effect of ocean flow on the motion of autonomous underwater vehicles (AUV) is often crucial in the development of underwater localization algorithms and should not be treated as small disturbances.  ...  background flow fields.  ... 
doi:10.1109/iros.2013.6696834 dblp:conf/iros/SongM13 fatcat:mgces3wdlzhmfoftmmp2b5w6ka

A probability density function approach to distributed sensors' path planning

S Ferrari, G Foderaro, A Tremblay
2010 2010 IEEE International Conference on Robotics and Automation  
approach implements a novel potential function generated from a probability density function (PDF) parameterized by an adaptive Gaussian mixture that is optimized to meet network-level objectives, such as cooperative  ...  number of sensors may be deployed, and each sensor is represented by a disk, the potential function is generated by multiplying the PDF by a likelihood update model that produces networks with disjoint fields-of-view  ...  flow with a vector field given by the model (20) .  ... 
doi:10.1109/robot.2010.5509184 dblp:conf/icra/FerrariFT10 fatcat:gpyz2l4hezcp3h2k3dfjma3nxi

Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles [chapter]

Xianbo Xiang, Lionel Lapierre, Bruno Jouvencel, Guohua Xu, Xinhan Huang
2009 Underwater Vehicles  
As the underwater positioning of AUVs is done on the remote control station which uses upwards acoustic flow of data, one natural strategy for the undersea exploration is to use an Autonomous Surface Vessels  ...  In the reverse type 3 solution, the fusion is done on the remote control station which uses upwards acoustic flow of data.  ...  Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles, Underwater Vehicles, Alexander V.  ... 
doi:10.5772/6719 fatcat:cqrggawpxzg7zox3zi4lza7rce

Marine Vehicle Sensor Network Architecture and Protocol Designs for Ocean Observation

Shaowei Zhang, Jiancheng Yu, Aiqun Zhang, Lei Yang, Yeqiang Shu
2012 Sensors  
multiple sample data are employed to estimate the feature variation.  ...  A particle agent model is used to simplify the cooperative trajectory control design.  ... 
doi:10.3390/s120100373 pmid:22368475 pmcid:PMC3279219 fatcat:gc67zs6utzhcth2xkic35f3t6y

Zig-zag wanderer: Towards adaptive tracking of time-varying coherent structures in the ocean

Dhanushka Kularatne, Ryan N. Smith, M. Ani Hsieh
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Experimental results using a novel indoor testbed, capable of creating controllable fluidic features in an indoor laboratory setting, are presented.  ...  The estimated front location and the current waypoint are then used to generate the next waypoint p n+1 for the AUV/ASV.  ...  In these experiments, we use the proposed algorithm to track velocity fronts in a flow field.  ... 
doi:10.1109/icra.2015.7139647 dblp:conf/icra/KularatneSH15 fatcat:qeq7rojwcnhlpf7gfhq4yl47nu

Low Cost Distributed Control System for Autonomous Vehicles

G. J. Beidler, R. W. Wall
2006 OCEANS 2006 - Asia Pacific  
A fleet of autonomous underwater vehicles was developed to field test control algorithms for cooperative behavior.  ...  On each vehicle, a distributed approach to vehicle control uses five off-the-shelf 8-bit microprocessors that communicate together using Ethernet.  ...  Thanks to the people at the Acoustic Research Detachment for their help in field-testing the AUV.  ... 
doi:10.1109/oceansap.2006.4393816 fatcat:r5hkc7ljxrfazhfsqpgwbt5o7m

Multibody System-Based Adaptive Formation Scheme for Multiple Under-Actuated AUVs

Hai Huang, Qirong Tang, Guocheng Zhang, Tiedong Zhang, Lei Wan, Yongjie Pang
2020 Sensors  
Moreover, the cooperative localization errors caused by packet loss are estimated through reinforcement learning radial basis function neural networks.  ...  On the basis of the multibody system concept, a multiple autonomous underwater vehicle formation and communication link framework has been established with an adaptive and radial basis function (RBF) strategy  ...  RBF Learning Network for Localization Errors Estimation The sound propagation loss is one of the major reasons for cooperative localization errors.  ... 
doi:10.3390/s20071943 pmid:32235677 pmcid:PMC7180628 fatcat:nmtagxuw4rawfmft7hujbxyrke

An Adaptive Prediction Target Search Algorithm for Multi-AUVs in an Unknown 3D Environment

Juan Li, Jianxin Zhang, Gengshi Zhang, Bingjian Zhang
2018 Sensors  
If there are targets in the field of view, the evaluation function and the estimation function of the adaptive predictive optimization algorithm is used to estimate the location of the unknown target.  ...  If there is no target in the field of view, the AUV system will judge whether all sub-regions of the current layer have been searched or not.  ...  Problem Description In an unknown underwater environment, multiple AUVs cooperatively perform a target searching task.  ... 
doi:10.3390/s18113853 pmid:30423987 fatcat:qxredgo2rzfkla7wuqb5ftc2ym

Hybrid maneuver for gradient search with multiple coordinated AUVs

Alfredo Martins, José Miguel Almeida, Eduardo Silva, Fernando Lobo Pereira
2004 IFAC Proceedings Volumes  
This work presents a hybrid maneuver for gradient search with multiple AUV's.  ...  The mission consists in following a gradient field in order to locate the source of a hydrothermal vent or underwater freshwater source.  ...  The formation uses a set of cooperative of small AUVs with minimal communication requirements.  ... 
doi:10.1016/s1474-6670(17)31981-x fatcat:2vhmuuoaazb7ff74vdzx2dj4li
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