Station Keeping with an Autonomous Underwater Glider Using a Predictive Model of Ocean Currents. Branch, A.; Troesch, M.; Flexas, M.; Thompson, A.; Ferrara, J.; Chao, Y.; and Chien, S. In AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017), Melbourne, Australia, August, 2017.
Station Keeping with an Autonomous Underwater Glider Using a Predictive Model of Ocean Currents [pdf]Paper  abstract   bibtex   5 downloads  
We investigate the use of an autonomous underwater glider as a platform for a virtual mooring. Our approach uses a simple vehicle motion model, a predictive model of ocean currents and a greedy search algorithm in order to simulate possible actions available to the vehicle and select an action to minimize the distance from the target point. Results from a 19 day experiment in October 2016 near Monterey Bay are presented where we test our control algorithm as well as investigate the effect of a glider's dive profile on its ability to act as a virtual mooring.
@inproceedings{branch-troesch-flexas-et-al-2017,
  author = {A. Branch and M. Troesch and M. Flexas and A. Thompson and J. Ferrara and Y. Chao and S. Chien},
  title = {Station Keeping with an Autonomous Underwater Glider Using a Predictive Model of Ocean Currents},
  booktitle = {AI in the Oceans and Space Workshop, International Joint Conference on Artificial Intelligence (IJCAI 2017)},
  year = {2017},
  month = {August},
  address = {Melbourne, Australia},
  abstract = { We investigate the use of an autonomous underwater glider as a platform for a virtual mooring. Our approach uses a simple vehicle motion model, a predictive model of ocean currents and a greedy search algorithm in order to simulate possible actions available to the vehicle and select an action to minimize the distance from the target point. Results from a 19 day experiment in October 2016 near Monterey Bay are presented where we test our control algorithm as well as investigate the effect of a glider's dive profile on its ability to act as a virtual mooring. },
  url = {https://ai.jpl.nasa.gov/public/papers/branch_ijcai2017_station.pdf},
  clearance = {CL#17-4088},
  project = {SWOT_station},
}
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