Exploiting Adaptive and Collaborative AUV Autonomy for Detection and Characterization of Internal Waves
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Schmidt_Exploiting adaptive.pdf
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2.31 MB
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Author(s)
Petillo, Stephanie
Schmidt, Henrik
Date Issued
January 2014
Journal
IEEE Journal of Oceanic Engineering
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Petillo, Stephanie, and Henrik Schmidt. “Exploiting Adaptive and Collaborative AUV Autonomy for Detection and Characterization of Internal Waves.” IEEE J. Oceanic Eng. 39, no. 1 (January 2014): 150–164.
Version
Original manuscript
Abstract
Advances in the fields of autonomy software and environmental sampling techniques for autonomous underwater vehicles (AUVs) have recently allowed for the merging of oceanographic data collection with the testing of emerging marine technology. The Massachusetts Institute of Technology (MIT) Laboratory for Autonomous Marine Sensing Systems (LAMSS) group conducted an Internal Wave Detection Experiment in August 2010 with these advances in mind. The goal was to have multiple AUVs collaborate autonomously through onboard autonomy software and real-time underwater acoustic communication to monitor for the presence of internal waves by adapting to changes in the environment (specifically the temperature variations near the thermocline/pycnocline depth). The experimental setup, implementation, data, deployment results, and internal wave detection and quantification results are presented in this paper.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Woods Hole Oceanographic Institution
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/joe.2013.2243251
