Large Scale Unmanned Vehicles Oceanic Exercise REP(MUS)19 Field Report

Dias, Paulo Sousa; Costa, María João; Pinto, José; Lima, Keila; Venancio, L. M. Gaspar; Aguiar, Miguel; Sousa, João Borges de

doi:10.1109/auv50043.2020.9267898

Cited by 2 publications

(2 citation statements)

References 2 publications

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“…Critically, our efforts are in the open ocean, well beyond the confines of the coastal zone, where there was no guarantee of being able to find the STF frontal zone. Equally, our work involves a rich legacy of software infrastructure used across multiple field experiments (Das et al, 2011;Faria et al, 2014b;de Sousa et al, 2016a;Py et al, 2016;de Sousa et al, 2016b;Chrpa et al, 2017;Fossum et al, 2018;Ferreira et al, 2019;Costa et al, 2018;Dias et al, 2020), and not a bespoke method, emphasizes propelled vehicles with substantial payload and computational abilities which makes for adaptations in situ.…”

Section: Related Workmentioning

confidence: 99%

“…Automated planners can either be running onboard the vehicles or elsewhere with Ripples access. We have tested different planners using this backseat approach Chrpa et al, 2015;Mendes et al, 2018;Dias et al, 2020), some more deliberative, while others more reactive. Even though straight line (in the x-y plane) "yo-yo" transects are the most commonly used motion pattern for upper water exploration, adaptive motion patterns are more effective when it comes to tracking dynamic ocean features.…”

Section: Planning and Executionmentioning

confidence: 99%

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Coordinated Robotic Exploration of Dynamic Open Ocean Phenomena

Pinto¹,

Costa²,

Mendes³

et al. 2022

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The study of dynamic features of the ocean, in which complex physical, chemical, and biological interactions evolve on multiple time scales, poses significant sampling challenges because the required spatial and temporal resolutions are not possible by ship or satellite studies alone. Satellite remote sensing captures only surface effects while expensive research vessels can only make discrete observations in finite periods of time. Our work with networked marine robotics in the aerial, surface, and underwater domains is at the vanguard of a new approach to scientific exploration and observation, which brings together several technologies to enable oceanographic vessels and robots to work in tandem, thus expanding the observational footprint of these vessels. 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 and sub-mesoscale features of a frontal zone. We articulate the elements and methods to multi-vehicle coordination and challenges that lie ahead in ocean observation.

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