@inproceedings{branch_planrob2018_front,
	title        = {Front Delineation and Tracking with Multiple Underwater Vehicles},
	author       = {A. Branch and M. M. Flexas and B. Claus and A. F. Thompson and E. B. Clark and Y. Zhang and J. C. Kinsey and S. Chien and D. M. Fratantoni and B. Hobson and B. Kieft and F. P. Chavez},
	year         = 2018,
	month        = {June},
	booktitle    = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2018)},
	address      = {Delft, Netherlands},
	url          = {https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-front.pdf},
	abstract     = {This work describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles --- equally-spaced along the expected frontal boundary --- complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in and around Monterey Bay, California in May of 2017. We compare the front detection method to previously used methods. We introduce a metric in order to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using short-range Iver AUVs. This method extends to tracking gradients of different properties using a variety of vehicles.},
	clearance    = {CL\#18-2692},
	project      = {keck\_marine}
}

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P."],"bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Front Delineation and Tracking with Multiple Underwater Vehicles","author":[{"firstnames":["A."],"propositions":[],"lastnames":["Branch"],"suffixes":[]},{"firstnames":["M.","M."],"propositions":[],"lastnames":["Flexas"],"suffixes":[]},{"firstnames":["B."],"propositions":[],"lastnames":["Claus"],"suffixes":[]},{"firstnames":["A.","F."],"propositions":[],"lastnames":["Thompson"],"suffixes":[]},{"firstnames":["E.","B."],"propositions":[],"lastnames":["Clark"],"suffixes":[]},{"firstnames":["Y."],"propositions":[],"lastnames":["Zhang"],"suffixes":[]},{"firstnames":["J.","C."],"propositions":[],"lastnames":["Kinsey"],"suffixes":[]},{"firstnames":["S."],"propositions":[],"lastnames":["Chien"],"suffixes":[]},{"firstnames":["D.","M."],"propositions":[],"lastnames":["Fratantoni"],"suffixes":[]},{"firstnames":["B."],"propositions":[],"lastnames":["Hobson"],"suffixes":[]},{"firstnames":["B."],"propositions":[],"lastnames":["Kieft"],"suffixes":[]},{"firstnames":["F.","P."],"propositions":[],"lastnames":["Chavez"],"suffixes":[]}],"year":"2018","month":"June","booktitle":"Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2018)","address":"Delft, Netherlands","url":"https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-front.pdf","abstract":"This work describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles — equally-spaced along the expected frontal boundary — complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in and around Monterey Bay, California in May of 2017. We compare the front detection method to previously used methods. We introduce a metric in order to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using short-range Iver AUVs. This method extends to tracking gradients of different properties using a variety of vehicles.","clearance":"CL#18-2692","project":"keck_marine","bibtex":"@inproceedings{branch_planrob2018_front,\n\ttitle = {Front Delineation and Tracking with Multiple Underwater Vehicles},\n\tauthor = {A. Branch and M. M. Flexas and B. Claus and A. F. Thompson and E. B. Clark and Y. Zhang and J. C. Kinsey and S. Chien and D. M. Fratantoni and B. Hobson and B. Kieft and F. P. Chavez},\n\tyear = 2018,\n\tmonth = {June},\n\tbooktitle = {Workshop on Planning and Robotics, International Conference on Automated Planning and Scheduling (ICAPS PlanRob 2018)},\n\taddress = {Delft, Netherlands},\n\turl = {https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-front.pdf},\n\tabstract = {This work describes a method for detecting and tracking ocean fronts using multiple autonomous underwater vehicles. Multiple vehicles --- equally-spaced along the expected frontal boundary --- complete near parallel transects orthogonal to the front. Lateral gradients are used to determine the location of the front crossing from each individual vehicle transect by detecting a change in the observed water property. Adaptive control of the vehicles ensure they remain perpendicular to the estimated front boundary as it evolves over time. This method was demonstrated in and around Monterey Bay, California in May of 2017. We compare the front detection method to previously used methods. We introduce a metric in order to evaluate the adaptive control techniques presented. We show the capability of this method for repeated sampling across a dynamic two-dimensional ocean front using short-range Iver AUVs. This method extends to tracking gradients of different properties using a variety of vehicles.},\n\tclearance = {CL\\#18-2692},\n\tproject = {keck\\_marine}\n}\n","author_short":["Branch, A.","Flexas, M. M.","Claus, B.","Thompson, A. F.","Clark, E. B.","Zhang, Y.","Kinsey, J. C.","Chien, S.","Fratantoni, D. M.","Hobson, B.","Kieft, B.","Chavez, F. P."],"key":"branch_planrob2018_front","id":"branch_planrob2018_front","bibbaseid":"branch-flexas-claus-thompson-clark-zhang-kinsey-chien-etal-frontdelineationandtrackingwithmultipleunderwatervehicles-2018","role":"author","urls":{"Paper":"https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-front.pdf"},"metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"ai.jpl.nasa.gov/public/publications/jpl_aig.bib","dataSources":["gKzW9rEearQxTm7ht","QvdbtaigAhR3B2gH3","fFKv7kkLuCZPtfsiH"],"keywords":[],"search_terms":["front","delineation","tracking","multiple","underwater","vehicles","branch","flexas","claus","thompson","clark","zhang","kinsey","chien","fratantoni","hobson","kieft","chavez"],"title":"Front Delineation and Tracking with Multiple Underwater Vehicles","year":2018}