Coordinating UAVs and AUVs for oceanographic field experiments: Challenges and lessons learned

Abstract

Abstract-Obtaining synoptic observations of dynamic ocean phenomena such as fronts, eddies, oxygen minimum zones and blooms has been challenging primarily due to the large spatial scales involved. Traditional methods of observation with manned ships are expensive and, unless the vessel can survey at high-speed, unrealistic. Autonomous underwater vehicles (AUVs) are robotic platforms that have been making steady gains in sampling capabilities and impacting oceanographic observations especially in coastal areas. However, their reach is still limited by operating constraints related to their energy sources. Unmanned aerial vehicles (UAVs) recently introduced in coastal and polar oceanographic experiments have added to the mix in observation strategy and methods. They offer a tantalizing opportunity to bridge such scales in operational oceanography by coordinating with AUVs in the water-column to get in-situ measurements. In this paper, we articulate the principal challenges in operating UAVs with AUVs making synoptic observations for such targeted watercolumn sampling. We do so in the context of autonomous control and operation for networked robotics and describe novel experiments while articulating the key challenges and lessons learned.

On mixed-initiative planning and control for Autonomous underwater vehicles

“…The LSTS laboratory, for instance, participates in an annual exercise where multi-vehicle operation and control are the key emphasis for security and upper water exploration [4]. These experiments target coordinated observations primarily to look for features such as frontal zones, blooms and plumes in the coastal ocean [5].…”

“…to the AUV when on the surface, or more recently, sending abstract plans to the vehicle formulated as goals for onboard plan synthesis [4]. This has proved adequate for commanding a single vehicle.…”

Opportunistic Planning in Autonomous Underwater Missions

“…This work was carried out in the EU FP7 project, PANDORA 1 . The PANDORA project explored the achievement of persistent autonomy, through planning, task learning, plan execution within resource limits and adaptive response to unanticipated events.…”

“…There are many examples of long-horizon control problems [1], [2] in which the goal is to complete specific tasks under time and resource constraints [3], [4]. To do so requires goal-achieving activities to be planned.…”

Coordinated maritime missions of unmanned vehicles — Network architecture and performance analysis

“…Work is needed in both hardware and software integration [1], [2]. Multivehicle operations often involve multiple partners, that use different systems, often not compatible with each other.…”