Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents. Troesch, M.; Chien, S.; Chao, Y.; and Farrara, J. In International Conference on Automated Planning and Scheduling (ICAPS 2016), London, UK, June, 2016.
Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents [pdf]Paper  abstract   bibtex   
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 even with an imperfect model of ocean currents, planning in the ocean current model can significantly improve results for a specific problem of controlling a vertically profiling float when a trade-off between remaining at the same location as a virtual mooring and collecting more data with more profiles is available. We also present anecdotal data from an April 2015 deployment of EM-APEX floats.
@inproceedings{troesch-chien-chao-et-al-ICAPS-2016,
  author = {M. Troesch and S. Chien and Y. Chao and J. Farrara},
  title = {Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents},
  booktitle = {International Conference on Automated Planning and Scheduling (ICAPS 2016)},
  year = {2016},
  month = {June},
  address = {London, UK},
  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 even with an imperfect model of ocean currents, planning in the ocean current model  can  significantly  improve  results  for  a  specific problem of controlling a vertically profiling float when a trade-off between remaining at the same location as a virtual mooring and collecting more data with more profiles is available. We also present anecdotal data from an April 2015 deployment of EM-APEX floats. },
  url = {https://ai.jpl.nasa.gov/public/papers/troesch_icaps2016_floats.pdf},
  clearance = {CL#16-0899},
  project = {apf},
}
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