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dc.contributor.authorPetillo, Stephanie Marie
dc.contributor.authorSchmidt, Henrik
dc.date.accessioned2018-04-23T17:13:40Z
dc.date.available2018-04-23T17:13:40Z
dc.date.issued2016-04
dc.identifier.issn1474-6670
dc.identifier.urihttp://hdl.handle.net/1721.1/114874
dc.description.abstractAn autonomous underwater vehicle (AUV) equipped with environmental sensors and an on-board autonomy system can greatly increase the efficiency of environmental data collection and the synopticity of the data set collected simply by autonomously adapting its motion to changes it senses in its local environment. One application of this is tracking ocean features in an unknown ocean environment. This can be accomplished with one or multiple AUVs collaborating in near-real-time using acoustic communications. To further explore one example of this application, this paper focuses on using multiple AUVs to track underwater plumes. We evaluate various types of plumes (e.g., hydrothermal vent plumes, algal blooms, oil leaks), how each plume type may be detected and its spatial extent determined, what types of sensors can be used, and how AUVs can be employed to autonomously and adaptively track these dynamic plumes. Since AUVs vary significantly in design, mobility, deployment duration, on-board processing power, etc., it is also necessary to consider the best choice of AUV (or combination of AUVs) to track a plume. Thus, an operator/scientist's choice of AUV type(s) will likely depend the type of plume to be tracked, or vice versa. Since most underwater plumes are highly spatiotemporally dynamic, employing environmentally adaptive autonomy to track them with a fleet of AUVs is one of the most efficient ways to do so, given today's technology. Keywords: Autonomous vehicles; Adaptive systems; Marine systems; Sampling systems; Tracking applications; Marine environmental sampling; Underwater plumesen_US
dc.publisherElsevier BVen_US
dc.relation.isversionofhttp://dx.doi.org/10.3182/20120919-3-IT-2046.00040en_US
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivs Licenseen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/en_US
dc.sourceOther repositoryen_US
dc.titleAutonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technologyen_US
dc.typeArticleen_US
dc.identifier.citationPetillo, Stephanie M., and Henrik Schmidt. “Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology.” IFAC Proceedings Volumes 45, 27 (2012): 232–237 © IFACen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.departmentWoods Hole Oceanographic Institutionen_US
dc.contributor.mitauthorPetillo, Stephanie Marie
dc.contributor.mitauthorSchmidt, Henrik
dc.relation.journalIFAC Proceedings Volumesen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2018-04-20T11:20:36Z
dspace.orderedauthorsPetillo, Stephanie M.; Schmidt, Henriken_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0002-2883-7027
dc.identifier.orcidhttps://orcid.org/0000-0003-3422-8700
mit.licensePUBLISHER_CCen_US


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