2020
DOI: 10.3389/fmars.2020.00397
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Oceanids C2: An Integrated Command, Control, and Data Infrastructure for the Over-the-Horizon Operation of Marine Autonomous Systems

Abstract: Long-range Marine Autonomous Systems (MAS), operating beyond the visual line-of-sight of a human pilot or research ship, are creating unprecedented opportunities for oceanographic data collection. Able to operate for up to months at a time, periodically communicating with a remote pilot via satellite, long-range MAS vehicles significantly reduce the need for an expensive research ship presence within the operating area. Heterogeneous fleets of MAS vehicles, operating simultaneously in an area for an extended p… Show more

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Cited by 13 publications
(5 citation statements)
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“…While there are ongoing efforts where robotic assets can be shared over the Internet with end-users for beyond-visual line-of-sight experiments, these efforts are predominantly used for sharing live data feed from ongoing deployments with end users, and not for command/control in situ exploration and analysis, like we do in this work. Oceanids C2 (Harris et al, 2020) is one example, which employs a cloud infrastructure to allow access to live data from multiple heterogeneous assets for waypoint-based piloting. This approach, however, relies on a control station to do all the planning since the vehicles are either teleoperated or do not have onboard planning capabilities.…”
Section: Related Workmentioning
confidence: 99%
“…While there are ongoing efforts where robotic assets can be shared over the Internet with end-users for beyond-visual line-of-sight experiments, these efforts are predominantly used for sharing live data feed from ongoing deployments with end users, and not for command/control in situ exploration and analysis, like we do in this work. Oceanids C2 (Harris et al, 2020) is one example, which employs a cloud infrastructure to allow access to live data from multiple heterogeneous assets for waypoint-based piloting. This approach, however, relies on a control station to do all the planning since the vehicles are either teleoperated or do not have onboard planning capabilities.…”
Section: Related Workmentioning
confidence: 99%
“…• limited cross-platform standardisation, requiring operators to be trained in the use of individual vehicles 9 • real-time data analysis and assimilation challenges that stem from production and communication of data in vehicle-specific formats • limited availability of machine-machine interfaces as well as associated limitations for the use of common controller tools, multivehicle operating strategies, autonomous control and data delivery (Harris et al, 2020).…”
Section: Secure Computing and Networkingmentioning
confidence: 99%
“…The tool was created and tested offline using the data collected during the field test for a Slocum G2. After successful testing, the trained fault detection and isolation system can be applied online to notify pilots of possible high levels of marine growth on the UG after each surfacing and satellite connection, e.g., through an over-the-horizon command and control infrastructure, as described in [33].…”
Section: Marine Growth Detectionmentioning
confidence: 99%