Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology
An 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 e...
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| Format: | Article |
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Elsevier BV
2018
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| Online Access: | http://hdl.handle.net/1721.1/114874 https://orcid.org/0000-0002-2883-7027 https://orcid.org/0000-0003-3422-8700 |
| _version_ | 1826189212453437440 |
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| author | Petillo, Stephanie Marie Schmidt, Henrik |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Petillo, Stephanie Marie Schmidt, Henrik |
| author_sort | Petillo, Stephanie Marie |
| collection | MIT |
| description | An 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 plumes |
| first_indexed | 2024-09-23T08:11:35Z |
| format | Article |
| id | mit-1721.1/114874 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T08:11:35Z |
| publishDate | 2018 |
| publisher | Elsevier BV |
| record_format | dspace |
| spelling | mit-1721.1/1148742022-09-30T08:11:56Z Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology Petillo, Stephanie Marie Schmidt, Henrik Massachusetts Institute of Technology. Department of Mechanical Engineering Woods Hole Oceanographic Institution Petillo, Stephanie Marie Schmidt, Henrik An 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 plumes 2018-04-23T17:13:40Z 2018-04-23T17:13:40Z 2016-04 2018-04-20T11:20:36Z Article http://purl.org/eprint/type/ConferencePaper 1474-6670 http://hdl.handle.net/1721.1/114874 Petillo, 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 © IFAC https://orcid.org/0000-0002-2883-7027 https://orcid.org/0000-0003-3422-8700 http://dx.doi.org/10.3182/20120919-3-IT-2046.00040 IFAC Proceedings Volumes Creative Commons Attribution-NonCommercial-NoDerivs License http://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf Elsevier BV Other repository |
| spellingShingle | Petillo, Stephanie Marie Schmidt, Henrik Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology |
| title | Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology |
| title_full | Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology |
| title_fullStr | Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology |
| title_full_unstemmed | Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology |
| title_short | Autonomous and Adaptive Underwater Plume Detection and Tracking with AUVs: Concepts, Methods, and Available Technology |
| title_sort | autonomous and adaptive underwater plume detection and tracking with auvs concepts methods and available technology |
| url | http://hdl.handle.net/1721.1/114874 https://orcid.org/0000-0002-2883-7027 https://orcid.org/0000-0003-3422-8700 |
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