One of the tasks in ice defense is to gather information about the surrounding ice environment using various sensor platforms. In this manuscript we identify two monitoring tasks known in literature, namely dynamic coverage and target tracking, and motivate how these tasks are relevant in ice defense using remotely piloted aircraft systems (RPASs). An optimization-based path planning concept is outlined for solving these tasks. A path planner for the target tracking problem is elaborated in more detail and a hybrid experiment, which consists of both a real fixed-wing aircraft and simulated objects, is included to show the applicability of the proposed framework.
A path planning framework for regional surveillance of a planar advection-diffusion process by aerial mobile sensors is proposed. The goal of the path planning is to produce feasible and collision-free trajectories for a set of aerial mobile sensors that minimize some uncertainty measure of the process under observation. The problem is formulated as a dynamic optimization problem and discretized into a large-scale nonlinear programming (NLP) problem using the Petrov–Galerkin finite element method in space and simultaneous collocation in time. Receding horizon optimization problems are solved in simulations with an advection-dominated ice concentration field. Simulations illustrate the usefulness of the proposed method.
In this work, we present a generic framework for designing on-board decision support systems for marine operations. We discuss different technologies and methods for obtaining and analysing data and providing relevant information to on-board personnel. In particular, we focus on combining and integrating simulators with measurements, both live and stored historical data, in on-board systems for both pre-operational planning and live situation observers that might have predictive functionalities. To exemplify, we present four case studies: The first two are concerned with development of an on-board decision support system for offshore crane operations. Here, vessel motion measurements and numerical models are combined for both on-board surveillance applications and on-board pre-operational planning applications, where the latter include historical vessel characteristics. In the third, we combine simulations, measurements and automatic control in an application aimed at triple-trawl fishing operations. Finally, we present a data-driven decision support system for energy-efficient operation of hybrid propulsion systems.
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