Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents. Troesch, M.; Chien, S.; Chao, Y.; and Farrara, J. In
Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents [link]Paper  abstract   bibtex   1 download  
We address the control of a vertically profiling float using ocean-model-based predictions of future currents. While these problems are in reality continuous control problems, we solve them by searching a discrete space of future actions. Additionally, while the environment is a continuous space, the ocean model we use is a discrete cell-based model. We show that although the problem of predictive modeling ocean conditions is a difficult one, the knowledge provided makes it worthwhile to plan the control sequence for a vertically profiling float when a trade-off needs to be made between remaining at the same location as a virtual mooring and collecting more data with more profiles. We first present data from simulation in the ROMS integrated ocean modeling system that shows the performance advantage of batch planning over blind profiling. We also present anecdotal evidence from deployment of EM-APEX floats that shows that where the ROMS predictions are not very informative the float control performance suffers.
@inproceedings {icaps16-8,
    track    = {​​​Applications Track},
    title    = {Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents},
    url      = {http://www.aaai.org/ocs/index.php/ICAPS/ICAPS16/paper/view/12991},
    author   = {Martina Troesch and  Steve Chien and  Yi Chao and  John Farrara},
    abstract = {We address the control of a vertically profiling float using ocean-model-based predictions of future currents. While these problems are in reality continuous control problems, we solve them by searching a discrete space of future actions. Additionally, while the environment is a continuous space, the ocean model we use is a discrete cell-based model. We show that although the problem of predictive modeling ocean conditions is a difficult one, the knowledge provided makes it worthwhile to plan the control sequence for a vertically profiling float when a trade-off needs to be made between remaining at the same location as a virtual mooring and collecting more data with more profiles.  We first present data from simulation in the ROMS integrated ocean modeling system that shows the performance advantage of batch planning over blind profiling.  We also present anecdotal evidence from deployment of EM-APEX floats that shows that where the ROMS predictions are not very informative the float control performance suffers.},
    keywords = {Evaluation; testing; and validation of P&S applications,Description and modeling of novel application domains}
}
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