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Persistent ocean monitoring with underwater gliders: Towards accurate reconstruction of dynamic ocean processes
2011
2011 IEEE International Conference on Robotics and Automation
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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
2010
2010 IEEE International Conference on Robotics and Automation
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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]
2018
arXiv
pre-print
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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
2021
Current Robotics Reports
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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
2010
OCEANS'10 IEEE SYDNEY
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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]
2016
arXiv
pre-print
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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
2011
Journal of Field Robotics
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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
2015
Sensors
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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]
2022
arXiv
pre-print
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2021 pre-print arXiv:2110.08658v1 fatcat:jjq2t3sz5nbm7csakhrw4bedne
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
2010
The international journal of robotics research
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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
2013
Frontiers in Ecology and the Environment
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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
2012
IFAC Proceedings Volumes
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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
2019
IEEE Robotics and Automation Letters
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2019 pre-print arXiv:1901.09608v1 fatcat:kaa75pbbdfgblfnj4f4ugsa334
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
2021
Engineering Advances
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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
2016
Frontiers in Robotics and AI
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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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