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Demonstration of Autonomous Nested Search for Local Maxima using an Unmanned Underwater Vehicle, ICRA Submission

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dc.contributor.author Branch, Andrew
dc.contributor.author McMahon, James
dc.contributor.author Xu, Guangyu
dc.contributor.author Jakuba, Michael V.
dc.contributor.author German, Christopher R.
dc.contributor.author Chien, Steve
dc.contributor.author Kinsey, James C.
dc.contributor.author Bowen, Andrew D.
dc.contributor.author Hand, Kevin P.
dc.contributor.author Seewald, Jeffrey S.
dc.date.accessioned 2021-10-29T21:07:30Z
dc.date.available 2021-10-29T21:07:30Z
dc.date.issued 2020-05-31
dc.identifier.citation ICRA 2020 - IEEE International Conference on Robotics and Automation, Paris, France, May 31 - June 4, 2020
dc.identifier.clearanceno CL#20-0861
dc.identifier.uri http://hdl.handle.net/2014/52294
dc.description.abstract Ocean Worlds represent one of the best chances for extra-terrestrial life in our solar system. A new mission concept must be developed to explore these oceans. This mission would require traversing the 10s of km thick icy shell and releasing a submersible into the ocean below. During the transit of the icy shell and the exploration of the ocean, the vehicle(s) would be out of contact with Earth for weeks or potentially months at a time. During this time the vehicle must have sufficient autonomy to locate and study scientific targets of interest. One such target of interest is hydrothermal venting. We have previously developed an autonomous nested search method to locate and investigate sources of hydrothermal venting by locating local maxima in hydrothermal vent emissions. In this work we demonstrate this approach on board an OceanServer Iver2 AUV in Chesapeake Bay, MD using simulated sensor data from a hydrothermal plume model. This represents the first step towards the deployment of this approach in conditions analogous to those that we might expect on an Ocean World.
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US
dc.publisher Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2020
dc.title Demonstration of Autonomous Nested Search for Local Maxima using an Unmanned Underwater Vehicle, ICRA Submission
dc.type Preprint


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