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This work addresses mission planning for autonomous underwater gliders based on predictions of an uncertain, time-varying current eld. Glider submersibles are highly sensitive to prevailing currents so mission planners must account for ocean tides and eddies. Previous work in variablecurrent path planning assumes that current predictions are perfect, but in practice these forecasts may be inaccurate. Here we evaluate plan fragility using empirical tests on historical ocean forecasts for whichdoi:10.1109/robot.2010.5509249 dblp:conf/icra/ThompsonCCLCLSBPAM10 fatcat:wordaezagve2vbkpcpt57dyiq4