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.
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},
}