@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}
}

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