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Planning and Execution for Front Delineation and Tracking with Multiple Underwater Vehicles

Show simple item record Branch, Andrew Flexas, Mar M. Claus, Brian Thompson, Andrew F. Clark, Evan B. Zhang, Yanwu Kinsey, James C. Chien, Steve Fratantoni, David M. Hobson, Brett Kieft, Brian Chavez, Francisco P. 2020-05-12T17:15:12Z 2020-05-12T17:15:12Z 2018-06-24
dc.identifier.citation International Conference on Automated Planning and Scheduling (ICAPS) 2018, Delft, The Netherlands, June 24 - 29, 2018 en_US
dc.identifier.clearanceno 18-2730
dc.description.abstract This work describes a planning architecture for a heterogeneous fleet of marine assets as well as a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles — equally-spaced along the expected frontal boundary — complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated frontal boundary as it evolves over time. This method was demonstrated in several experiment periods totaling weeks, in and around Monterey Bay, California in May and June of 2017. We discuss the challenges associated with the implementation of the planning system. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using a fleet of three types of platforms: short-range Iver AUVs, Tethys-Class Long-Range AUVs, and Seagliders. This method extends to tracking gradients of different properties using a variety of vehicles. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2018 en_US
dc.title Planning and Execution for Front Delineation and Tracking with Multiple Underwater Vehicles en_US
dc.type Preprint en_US

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