Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents. Troesch, M., Chien, S., Chao, Y., & 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]](https://bibbase.org/img/filetypes/pdf.svg "pdf")
Paper abstract bibtex 5 downloads 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,
title = {Planning and Control of Marine Floats in the Presence of Dynamic, Uncertain Currents},
author = {M. Troesch and S. Chien and Y. Chao and J. Farrara},
year = 2016,
month = {June},
booktitle = {International Conference on Automated Planning and Scheduling (ICAPS 2016)},
address = {London, UK},
url = {https://ai.jpl.nasa.gov/public/papers/troesch-icaps2016-floats.pdf},
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.},
clearance = {CL\#16-0899},
project = {apf}
}
Downloads: 5
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