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Science-driven Autonomous & Heterogeneous Robotic Networks: A Vision for Future Ocean Observations

Thompson, Andrew F. and Chien, Steve and Chao, Yi and Kinsey, James (2018) Science-driven Autonomous & Heterogeneous Robotic Networks: A Vision for Future Ocean Observations. . (Unpublished) http://resolver.caltech.edu/CaltechAUTHORS:20180329-093823870

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Abstract

The goal of this project was to develop the first algorithms that allow a heterogeneous group of oceanic robots to autonomously determine and implement sampling strategies with the help of numerical ocean forecasts and remotely-sensed observations. Two-way feedback with shore-based numerical models, tested in the field, had not previously been attempted. New planning algorithms were tested during two field programs in Monterey Bay during a 12-month period using three different types of autonomous vehicles.


Item Type:Report or Paper (Technical Report)
ORCID:
AuthorORCID
Thompson, Andrew F.0000-0003-0322-4811
Additional Information:We would like to thank the Keck Institute for Space Studies, KISS Director Tom Prince, the KISS board members and especially Michele Judd, for their generous support and encouragement through both the study and technical development periods. We would also like to thank Michele and Janet Seid for their hospitality and efforts to support our team meetings at the Keck facilities. This greatly enhanced the efficiency of our team’s collaboration on this project. We are grateful to our collaborators at MBARI and JPL, especially Francisco Chavez and Brett Hobson at MBARI and Lee Fu and Jinbo Wang at JPL. Through interaction with these two groups we were able to carry our a more extensive field program than was originally envisioned in our proposal. We also received helpful feedback from Becky Castaño and Gail Woodward at JPL about future applications of the autonomous planning software developed during this project, potentially through future activities coordinated with Caltech’s Center for Autonomous Systems and Technology (CAST) and the Kerckhoff Marine Laboratory. We look forward to future collaboration with these partners. We would also like to acknowledge a number of colleagues that made the field programs possible. Ben Hodges (U. Rhode Island) provided access to the Iver AUVs, Brett Hobson and Francisco Chavez (MBARI) graciously allowed us to control a number of their LRAUVs during their CANON experiments as well as LRAUV testing and validation deployments. Partial support for the Caltech gliders was provided by the Division of Geological and Planetary Sciences. Finally, we thank Captain Jim Christman for his experience and advice during the vehicle deployments and recoveries from the R/V Shana Rae during both the 2016 and 2017 field programs.
Group:Keck Institute for Space Studies
Funders:
Funding AgencyGrant Number
Keck Institute for Space Studies (KISS)UNSPECIFIED
Caltech Division of Geological and Planetary SciencesUNSPECIFIED
DOI:10.26206/DDVC-FC17
Record Number:CaltechAUTHORS:20180329-093823870
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180329-093823870
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85486
Collection:CaltechAUTHORS
Deposited By: Iryna Chatila
Deposited On:29 Mar 2018 17:13
Last Modified:21 Mar 2019 21:52

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