@inproceedings{branch_planrob2018_hydrothermal,
	title        = {Autonomous Nested Search for Hydrothermal Venting},
	author       = {A. Branch and G. Xu and M. V. Jakuba and C. R. German and S. Chien and J. C. Kinsey and A. D. Bowen and K. P. Hand and J. S. Seewald},
	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-hydrothermal.pdf},
	abstract     = {Ocean Worlds represent one of the best chances for the discovery of extra-terrestrial life within our own solar system. Liquid oceans are thought to exist on these celestial bodies, often encased in a thick icy shell. In order to investigate these oceans, a new mission concept utilizing a submersible craft must be developed. This vehicle would be required to traverse the icy shell and travel hundreds or even thousands of kilometers to survey the ocean below. In doing this, the vehicle might be out of contact for weeks or months at a time, requiring it to autonomously detect, locate, and study features of interest. Hydrothermal venting is one potential target, due to the unique ecosystems it supports on Earth. We have developed an autonomous, nested search strategy to locate sources of hydrothermal venting based on currently used methods. To test this search technique a simulation environment was developed using a hydrothermal plume dispersion simulation and a vehicle model. We show the effectiveness of the search method in this environment.},
	clearance    = {CL\#18-2729},
	project      = {ice\_covered\_oceans}
}

{"_id":"Y4G53kjsLj2cpoEEP","bibbaseid":"branch-xu-jakuba-german-chien-kinsey-bowen-hand-etal-autonomousnestedsearchforhydrothermalventing-2018","author_short":["Branch, A.","Xu, G.","Jakuba, M. V.","German, C. R.","Chien, S.","Kinsey, J. C.","Bowen, A. D.","Hand, K. P.","Seewald, J. S."],"bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Autonomous Nested Search for Hydrothermal Venting","author":[{"firstnames":["A."],"propositions":[],"lastnames":["Branch"],"suffixes":[]},{"firstnames":["G."],"propositions":[],"lastnames":["Xu"],"suffixes":[]},{"firstnames":["M.","V."],"propositions":[],"lastnames":["Jakuba"],"suffixes":[]},{"firstnames":["C.","R."],"propositions":[],"lastnames":["German"],"suffixes":[]},{"firstnames":["S."],"propositions":[],"lastnames":["Chien"],"suffixes":[]},{"firstnames":["J.","C."],"propositions":[],"lastnames":["Kinsey"],"suffixes":[]},{"firstnames":["A.","D."],"propositions":[],"lastnames":["Bowen"],"suffixes":[]},{"firstnames":["K.","P."],"propositions":[],"lastnames":["Hand"],"suffixes":[]},{"firstnames":["J.","S."],"propositions":[],"lastnames":["Seewald"],"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-hydrothermal.pdf","abstract":"Ocean Worlds represent one of the best chances for the discovery of extra-terrestrial life within our own solar system. Liquid oceans are thought to exist on these celestial bodies, often encased in a thick icy shell. In order to investigate these oceans, a new mission concept utilizing a submersible craft must be developed. This vehicle would be required to traverse the icy shell and travel hundreds or even thousands of kilometers to survey the ocean below. In doing this, the vehicle might be out of contact for weeks or months at a time, requiring it to autonomously detect, locate, and study features of interest. Hydrothermal venting is one potential target, due to the unique ecosystems it supports on Earth. We have developed an autonomous, nested search strategy to locate sources of hydrothermal venting based on currently used methods. To test this search technique a simulation environment was developed using a hydrothermal plume dispersion simulation and a vehicle model. We show the effectiveness of the search method in this environment.","clearance":"CL#18-2729","project":"ice_covered_oceans","bibtex":"@inproceedings{branch_planrob2018_hydrothermal,\n\ttitle = {Autonomous Nested Search for Hydrothermal Venting},\n\tauthor = {A. Branch and G. Xu and M. V. Jakuba and C. R. German and S. Chien and J. C. Kinsey and A. D. Bowen and K. P. Hand and J. S. Seewald},\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-hydrothermal.pdf},\n\tabstract = {Ocean Worlds represent one of the best chances for the discovery of extra-terrestrial life within our own solar system. Liquid oceans are thought to exist on these celestial bodies, often encased in a thick icy shell. In order to investigate these oceans, a new mission concept utilizing a submersible craft must be developed. This vehicle would be required to traverse the icy shell and travel hundreds or even thousands of kilometers to survey the ocean below. In doing this, the vehicle might be out of contact for weeks or months at a time, requiring it to autonomously detect, locate, and study features of interest. Hydrothermal venting is one potential target, due to the unique ecosystems it supports on Earth. We have developed an autonomous, nested search strategy to locate sources of hydrothermal venting based on currently used methods. To test this search technique a simulation environment was developed using a hydrothermal plume dispersion simulation and a vehicle model. We show the effectiveness of the search method in this environment.},\n\tclearance = {CL\\#18-2729},\n\tproject = {ice\\_covered\\_oceans}\n}\n","author_short":["Branch, A.","Xu, G.","Jakuba, M. V.","German, C. R.","Chien, S.","Kinsey, J. C.","Bowen, A. D.","Hand, K. P.","Seewald, J. S."],"key":"branch_planrob2018_hydrothermal","id":"branch_planrob2018_hydrothermal","bibbaseid":"branch-xu-jakuba-german-chien-kinsey-bowen-hand-etal-autonomousnestedsearchforhydrothermalventing-2018","role":"author","urls":{"Paper":"https://ai.jpl.nasa.gov/public/papers/branch-planrob2018-hydrothermal.pdf"},"metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"ai.jpl.nasa.gov/public/publications/jpl_aig.bib","dataSources":["gKzW9rEearQxTm7ht","QvdbtaigAhR3B2gH3","fFKv7kkLuCZPtfsiH"],"keywords":[],"search_terms":["autonomous","nested","search","hydrothermal","venting","branch","xu","jakuba","german","chien","kinsey","bowen","hand","seewald"],"title":"Autonomous Nested Search for Hydrothermal Venting","year":2018}