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Risk-aware Path Planning for Autonomous Underwater Vehicles using Predictive Ocean Models

Arvind A. Pereira, Jonathan Binney, Geoffrey A. Hollinger, Gaurav S. Sukhatme
2013 Journal of Field Robotics  
We present additional results from field experiments where ocean current predictions were used to plan the paths of two Slocum gliders.  ...  Recent advances in Autonomous Underwater Vehicle (AUV) technology have facilitated the collection of oceanographic data at a fraction of the cost of ship-based sampling methods.  ...  The authors gratefully acknowledge Paul Reuter for providing us with the AIS data and Yi Chao, John Farrara and the rest of the team at JPL for providing us with ROMs data.  ... 
doi:10.1002/rob.21472 fatcat:3udpcg4ctjh7rihudwaswrrrci

Learning uncertainty models for reliable operation of Autonomous Underwater Vehicles

Geoffrey A. Hollinger, Arvind A. Pereira, Gaurav S. Sukhatme
2013 2013 IEEE International Conference on Robotics and Automation  
We discuss the problem of learning uncertainty models of ocean processes to assist in the operation of Autonomous Underwater Vehicles (AUVs) in the ocean.  ...  Available models provide accurate prediction of ocean currents, but they typically do not provide confidence estimates of these predictions.  ...  Planning for autonomous aerial vehicles operating in urban environments and wooded areas would also benefit from similar risk-aware planning with uncertainty.  ... 
doi:10.1109/icra.2013.6631380 dblp:conf/icra/HollingerPS13 fatcat:n3qjyhwnx5eibdsvhrrucnys5i

Toward risk aware mission planning for Autonomous Underwater Vehicles

Arvind A. Pereira, Jonathan Binney, Burton H. Jones, Matthew Ragan, Gaurav S. Sukhatme
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Long range and high endurance Autonomous Underwater Vehicles such as gliders enable sustained oceanographic sampling at larger time-scales and much lower operational costs compared to traditional ship-based  ...  While most path-planning methods for AUVs, optimize paths with respect to efficiency, safety, control and so on, they do not explicitly address the issue of finding the safest possible path when considering  ...  The authors gratefully acknowledge Paul Reuter for having provided us with the AIS data.  ... 
doi:10.1109/iros.2011.6095157 dblp:conf/iros/PereiraBJRS11 fatcat:kay6vvbifjghjdwi63xcxv22hy

Toward risk aware mission planning for Autonomous Underwater Vehicles

A. A. Pereira, J. Binney, B. H. Jones, M. Ragan, G. S. Sukhatme
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Long range and high endurance Autonomous Underwater Vehicles such as gliders enable sustained oceanographic sampling at larger time-scales and much lower operational costs compared to traditional ship-based  ...  While most path-planning methods for AUVs, optimize paths with respect to efficiency, safety, control and so on, they do not explicitly address the issue of finding the safest possible path when considering  ...  The authors gratefully acknowledge Paul Reuter for having provided us with the AIS data.  ... 
doi:10.1109/iros.2011.6048756 fatcat:wblh7sstvfarhfm475owqx7r4a

Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Ryan N. Smith, Jonathan Kelly, Gaurav S. Sukhatme
2012 2012 IEEE International Conference on Robotics and Automation  
Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission.  ...  Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should  ...  MISSION PLANNING Mission and path planning for Autonomous Underwater Vehicles (AUVs) is required for a wide variety of applications from ocean observation to marine archaeology.  ... 
doi:10.1109/icra.2012.6224609 dblp:conf/icra/SmithKS12 fatcat:3mtruhsitfgivfjuq4evw3krzi

Autonomous Reactive Mission Scheduling and Task-Path Planning Architecture for Autonomous Underwater Vehicle [article]

Somaiyeh Mahmoud.Zadeh
2017 arXiv   pre-print
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval.  ...  On the other hand, autonomous operation of AUVs in an unfamiliar dynamic underwater and performing quick response to sudden environmental changes is a complicated process.  ...  ., [72] developed an A* based Risk-aware path planning method for AUVs operation in a high boat traffic areas applying current prediction models.  ... 
arXiv:1706.04189v1 fatcat:hgwbnghhovgsrh47sog4dyhe5u

Current advancements on autonomous mission planning and management systems: An AUV and UAV perspective

Adham Atyabi, Somaiyeh MahmoudZadeh, Samia Nefti-Meziani
2018 Annual Reviews in Control  
This paper serves as an introduction to UVs mission planning and management systems aiming to highlight some of the recent developments in the field of autonomous underwater and aerial vehicles in addition  ...  Advances in hardware technology have enabled more integration of sophisticated software, triggering progress in the development and employment of Unmanned Vehicles (UVs), and mitigating restraints for  ...  Her area of research includes computational intelligence, autonomy and decision making, mission planning, situational awareness, and motion planning of autonomous underwater vehicles.  ... 
doi:10.1016/j.arcontrol.2018.07.002 fatcat:fq5q25mqgjhczjtojlganzrmue

Long-Range Route-planning for Autonomous Vehicles in the Polar Oceans [article]

Maria Fox, Michael Meredith, J. Alexander Brearley, Dan Jones, Derek Long
2021 arXiv   pre-print
There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions.  ...  A key requirement for long-term autonomous missions is a long-range route planning capability that is aware of the changing ice conditions.  ...  There is a large body of work in automated path planning for robotic vehicles, including underwater vehicles.  ... 
arXiv:2111.00293v2 fatcat:diqcppahhjbxhow4bngfcg656a

Path planning and collision avoidance for autonomous surface vehicles I: a review

Anete Vagale, Rachid Oucheikh, Robin T. Bye, Ottar L. Osen, Thor I. Fossen
2021 Journal of Marine Science and Technology  
In this paper, we review guidance, and more specifically, path planning algorithms of autonomous surface vehicles and their classification.  ...  This has raised the interest in developing methods for path planning that can reduce the risk of collisions, groundings, and stranding accidents at sea, as well as costs and time expenditure.  ...  Funding This work was funded by European Research Consortium for Informatics and Mathematics with Grant no. 2017-18 and by Senter for  ... 
doi:10.1007/s00773-020-00787-6 fatcat:ji6twedp6ndfvkcvbx4vacds2i

Marine Robotics for Recurrent Morphological Investigations of Micro-Tidal Marine-Coastal Environments. A Point of View

Alessandro Ridolfi, Nicola Secciani, Mascha Stroobant, Matteo Franchi, Leonardo Zacchini, Riccardo Costanzi, Giovanni Peralta, Luigi Enrico Cipriani
2021 Journal of Marine Science and Engineering  
The discussion will be supported by actual results, taken as an example, achieved using FeelHippo AUV, the compact Autonomous Underwater Vehicle (AUV) developed by the Department of Industrial Engineering  ...  Their proper use can allow for frequent surveys and enhance the coverage of the acquired data due to optimized mission strategies.  ...  There is limited literature on deterministic path planning for autonomous vehicles: one of the first deterministic approaches for underwater path planning was presented by Carroll et al. in 1992 [38]  ... 
doi:10.3390/jmse9101111 fatcat:6gxhpnwplnfihdtn5nlgotndrm

Coordinated Robotic Exploration of Dynamic Open Ocean Phenomena

José Pinto, Maria Costa, Renato Mendes, Keila Lima, Paulo Dias, João Pereira, Manuel Ribeiro, Renato Campos, Maria Paola Tomasino, Catarina Magalhães, Francisco López-Castejón, Javier Gilabert (+12 others)
2022 Field Robotics  
We articulate the elements and methods to multi-vehicle coordination and challenges that lie ahead in ocean observation.  ...  We describe a scientific cruise in the Spring of 2018 in the open waters of the Pacific where we deployed a fleet of autonomous robots to demonstrate this approach for the synoptic observation of mesoscale  ...  Acknowledgments We are grateful to the Schmidt Ocean Institute (SOI) for supporting the three-week cruise on the R/V Falkor and to its crew and captain.  ... 
doi:10.55417/fr.2022028 fatcat:nry3ovk7zrhh5ouyysoqbcn3ca

Modeling position uncertainty of networked autonomous underwater vehicles

Baozhi Chen, Dario Pompili
2015 Ad hoc networks  
Recently there has been increasing engineering activity in the deployment of Autonomous Underwater Vehicles (AUVs).  ...  Different types of AUVs are being used for applications ranging from ocean exploration to coastal tactical surveillance.  ...  The advance in mechanical, electrical, and computer engineering technologies has made it possible for AUVs to steer autonomously close to (or on) the pre-planned path(s) under disturbance such as ocean  ... 
doi:10.1016/j.adhoc.2014.09.003 fatcat:qttb7nymyfhwvgdy7f4hnwwg3y

Making AUVs Truly Autonomous

Per Espen Hagen, Oivind Midtgaard, Oistein Hasvold
2007 OCEANS 2007  
De-risking of long-endurance autonomous operations in unknown areas is thus an important goal for the AUV community.  ...  Introduction After decades of research and development, autonomous underwater vehicles (AUVs) are today becoming accepted by an increasing number of users in various military and civilian establishments  ...  For underwater vehicles, the necessity of a strictly feasible path should be carefully considered.  ... 
doi:10.1109/oceans.2007.4449405 fatcat:5pg2c5gqj5hbrnehkb7ofsl6zq

The Role of adaptive mission planning and control in persistent autonomous underwater vehicles presence

M. P. Brito, N. Bose, Ron Lewis, Polly Alexander, Gwyn Griffiths, James Ferguson
2012 2012 IEEE/OES Autonomous Underwater Vehicles (AUV)  
Index Terms-autonomous underwater vehicles, adaptive mission planning, risk, precision, positioning.  ...  The Autonomous Underwater Vehicle (AUV) community has for many years recognized the potential benefits made by adapting mission planning on-the-fly.  ...  By now a number of nations share the vision that autonomous underwater vehicles (AUVs) provide an increasingly capable solution for ocean sampling and surveillance systems [1] [2] .  ... 
doi:10.1109/auv.2012.6380748 fatcat:44p2ns6vlfex7jfq2r7yj3g5wq

Development of a multi-drive submersible platform for deep seabed research

Tjasa Boh, John Billingsley, Robin S. Bradbeer, Paul Hodgson
2009 OCEANS 2009-EUROPE  
Ocean observation requires the use of special technologies such as remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), towed camera systems etc.  ...  a new Autonomous Underwater Vehicle prototype.  ... 
doi:10.1109/oceanse.2009.5278287 fatcat:yax23ny4lrbibi545qm7rojjhe
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