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Persistent ocean monitoring with underwater gliders: Towards accurate reconstruction of dynamic ocean processes

Ryan N. Smith, Mac Schwager, Stephen L. Smith, Daniela Rus, Gaurav S. Sukhatme
2011 2011 IEEE International Conference on Robotics and Automation  
This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean.  ...  The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value.  ...  Jones for his collaboration and sharing his deep understanding of physical oceanography to practically motivate this research.  ... 
doi:10.1109/icra.2011.5979583 dblp:conf/icra/SmithSSRS11 fatcat:xezym3bakvhwzfyukt6lecamje

Spatiotemporal path planning in strong, dynamic, uncertain currents

David R Thompson, Steve Chien, Yi Chao, Peggy Li, Bronwyn Cahill, Julia Levin, Oscar Schofield, Arjuna Balasuriya, Stephanie Petillo, Matthew Arrott, Michael Meisinger
2010 2010 IEEE International Conference on Robotics and Automation  
A case study scenario in the Southern California Bight uses current predictions drawn from the Regional Ocean Monitoring System (ROMS).  ...  We present methods for glider path planning and control in a time-varying current field.  ...  Specifying spatiotemporal goals is important both for tracking time-varying ocean phenomena [10] , [12] and for time-coordination of multiple assets within the OOI.  ... 
doi:10.1109/robot.2010.5509249 dblp:conf/icra/ThompsonCCLCLSBPAM10 fatcat:wordaezagve2vbkpcpt57dyiq4

Data-Driven Learning and Planning for Environmental Sampling [article]

Kai-Chieh Ma, Lantao Liu, Hordur K. Heidarsson, Gaurav S. Sukhatme
2018 arXiv   pre-print
Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes.  ...  In this paper we present a planning and learning method that enables a sampling robot to perform persistent monitoring tasks by learning and refining a dynamic "data map" that models a spatiotemporal environment  ...  The authors would like to thank Stephanie Kemna for her help on collecting some of field data.  ... 
arXiv:1702.01848v2 fatcat:obln6ibofbhnvoh3uxdnnns2xe

Information-Driven Path Planning

Shi Bai, Tixiao Shan, Fanfei Chen, Lantao Liu, Brendan Englot
2021 Current Robotics Reports  
Summary This review started with the fundamental building blocks of informative planning for environment modeling and monitoring, followed by integration with machine learning, emphasizing how machine  ...  Purpose of Review The era of robotics-based environmental monitoring has given rise to many interesting areas of research.  ...  Due to these reasons, informative planning has been widely used for spatiotemporal environmental sensing, modeling, and monitoring.  ... 
doi:10.1007/s43154-021-00045-6 fatcat:cfnlvoaacjhptlbdtk6fhjm37m

Cooperative multi-AUV tracking of phytoplankton blooms based on ocean model predictions

Ryan N. Smith, Jnaneshwar Das, Yi Chao, David A. Caron, Burton H. Jones, Gaurav S. Sukhatme
phenomena.  ...  In recent years, ocean scientists have started to employ many new forms of technology as integral pieces in oceanographic data collection for the study and prediction of complex and dynamic ocean phenomena  ...  ACKNOWLEDGMENT This work was supported in part by the NOAA MERHAB program under grant NA05NOS4781228 and by NSF as part of the Center for Embedded Network Sensing (CENS) under grant CCR-0120778, by NSF  ... 
doi:10.1109/oceanssyd.2010.5603594 fatcat:fex5tzqn7zfbpkuqp3fuvt4xce

Informative Planning and Online Learning with Sparse Gaussian Processes [article]

Kai-Chieh Ma, Lantao Liu, Gaurav S. Sukhatme
2016 arXiv   pre-print
A big challenge in environmental monitoring is the spatiotemporal variation of the phenomena to be observed.  ...  Here we present a planning and learning method that enables an autonomous marine vehicle to perform persistent ocean monitoring tasks by learning and refining an environmental model.  ...  We propose an informative planning and online learning approach for the long-term environmental monitoring.  ... 
arXiv:1609.07560v1 fatcat:74tnqgw7cjfkbbhe7sycptkfbm

Persistent ocean monitoring with underwater gliders: Adapting sampling resolution

Ryan N. Smith, Mac Schwager, Stephen L. Smith, Burton H. Jones, Daniela Rus, Gaurav S. Sukhatme
2011 Journal of Field Robotics  
Here we present algorithms that produce persistent monitoring missions for underwater vehicles by balancing path following accuracy and sampling resolution for a given region of interest, which addresses  ...  More specifically, this paper proposes a path planning algorithm and a speed control algorithm for underwater gliders, which together give informative trajectories for the glider to persistently monitor  ...  We additionally thank MBARI for the opportunity to participate in BIOSPACE 2010 (Fulton-Bennett, 2010), a program funded by the U.S.  ... 
doi:10.1002/rob.20405 fatcat:u6eybph73jeavgwrekdsqms2we

Mission Planning and Decision Support for Underwater Glider Networks: A Sampling on-Demand Approach

Gabriele Ferri, Marco Cococcioni, Alberto Alvarez
2015 Sensors  
In particular, the A criterion produces paths for the gliders that minimize the overall level of uncertainty over the area of interest.  ...  A novel optimality criterion, called A η , is proposed and the resulting minimization problem is solved by using a Simulated Annealing based optimizer that takes into account the constraints imposed by  ...  Author Contributions: Gabriele Ferri designed and implemented the optimization algorithm. He also ran the experiments. He wrote most of the paper.  ... 
doi:10.3390/s16010028 pmid:26712763 pmcid:PMC4732061 fatcat:jma45tvhtvgm3fyi2vnetaulky

Dynamic Compressed Sensing of Unsteady Flows with a Mobile Robot [article]

Sachin Shriwastav, Gregory Snyder, Zhuoyuan Song
2022 arXiv   pre-print
for a mobile sensing robot.  ...  The optimal sensing waypoints are identified by an iterative compressed sensing algorithm that optimizes the flow reconstruction based on the proper orthogonal decomposition modes.  ...  Set D is chosen as the optimal waypoint sequence for trajectory optimization in the next step.  ... 
arXiv:2110.08658v2 fatcat:5awxeyh7cbfshkqc65uoswofp4

Planning and Implementing Trajectories for Autonomous Underwater Vehicles to Track Evolving Ocean Processes Based on Predictions from a Regional Ocean Model

Ryan N. Smith, Yi Chao, Peggy P. Li, David A. Caron, Burton H. Jones, Gaurav S. Sukhatme
2010 The international journal of robotics research  
Similar algorithms to those presented here are under development to consider additional locations for multiple types of features.  ...  S. (2010) Planning and implementing trajectories for autonomous underwater vehicles to track evolving ocean processes based on predictions from a regional ocean model.  ...  The authors acknowledge Carl Oberg for his work with glider hardware making field implementations possible and simple.  ... 
doi:10.1177/0278364910377243 fatcat:v5bg6ercxvckrp4gi2knyliane

Lightweight unmanned aerial vehicles will revolutionize spatial ecology

Karen Anderson, Kevin J Gaston
2013 Frontiers in Ecology and the Environment  
Flying low and slow, UAVs offer ecologists new opportunities for scale-appropriate measurements of ecological phenomena.  ...  UAVs offer ecologists a promising route to responsive, timely, and cost-effective monitoring of environmental phenomena at spatial and temporal resolutions that are appropriate to the scales of many ecologically  ...  This approach would work well for monitoring nocturnal species or spatiotemporal monitoring of population and behavioral dynamics, although operations may be constrained by regulatory restrictions on night-time  ... 
doi:10.1890/120150 fatcat:cgavfehar5hzbaq6zct7xqkn6i

Controlling Minimally-Actuated Vehicles for Applications in Ocean Observation

Ryan N. Smith, Van T Huynh
2012 IFAC Proceedings Volumes  
This controller is designed to select the best depth for the vehicle to exploit ambient currents to reach the goal waypoint.  ...  An A* planner is applied to a local controllability map generated from predictions of ocean currents to compute a path between prescribed waypoints that has the highest likelihood of successful execution  ...  Through the implementation of multiple and adaptable sensors, we can facilitate simultaneous and rapid measurements that capture the appropriate scale of spatiotemporal variability for many of these phenomena  ... 
doi:10.3182/20120410-3-pt-4028.00007 fatcat:qjeuhaobknhxfg7w2t5tvb5dve

Active Localization of Gas Leaks using Fluid Simulation

Martin Asenov, Marius Rutkauskas, Derryck Reid, Kartic Subr, Subramanian Ramamoorthy
2019 IEEE Robotics and Automation Letters  
We develop algorithms for off-line inference as well as for on-line path discovery via active sensing.  ...  We use a fluid simulator as a model, to guide inference for the location of a gas leak.  ...  Secondly, we carry out a set of online experiments, dynamically selecting new waypoints as part of the optimization procedure.  ... 
doi:10.1109/lra.2019.2895820 fatcat:sqf47wropjaknkklcjtp56qxdu

A Brief Overview and Future Perspective of Unmanned Aerial Systems for In-Service Structural Health Monitoring

Meisam Gordan, Zubaidah Ismail, Khaled Ghaedi, Zainah Ibrahim, Huzaifa Hashim, Haider Hamad Ghayeb, Marieh Talebkhah
2021 Engineering Advances  
This is due to the fact that UASs are low cost aerial robots, that require little preparation and infrastructure and can be equipped with any number of sensors or cameras making them ideal for monitoring  ...  This paper presents one of the most economical and yet the most effective approaches used in Structural Health Monitoring (SHM).  ...  their ability to adapt software for automatic flight waypoints and 3D mapping of objects (see Figure 6 ).  ... 
doi:10.26855/ea.2021.06.002 fatcat:3zpytry75rguhldqpo7yqgbrkq

Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain-Based Navigation

Andrew Stuntz, Jonathan Scott Kelly, Ryan N. Smith
2016 Frontiers in Robotics and AI  
phenomena occur.  ...  The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting  ...  Gliders are utilized for their deployment endurance, as they provide an optimal method for generating high-resolution spatial and temporal data with minimal energy expense.  ... 
doi:10.3389/frobt.2016.00023 fatcat:zlnzuxvk6zc5bmns6oib7rcmay
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