Contents XXI
18.5 Physical Sensor Systems ................................................
432
18.6 AUV-Based Physical Sensors – Horizons ...............................
435
18.7 AUV-Chemistry Sensors – Horizons ....................................
435
18.8 AUV-Based Biological Sensors – Horizons .............................
436
18.9 Autonomous Sampling Systems –
Extending Real-Time AUV Sensors......................................
436
18.10 Non-Acoustic Sensor Packaging ........................................
436
18.11 The Essential Need for Sensors .........................................
437
References .......................................................................
437
19 Cooperative Vehicle Environmental Monitoring
Naomi Ehrich Leonard ..........................................................
441
19.1 Motivation ...............................................................
441
19.2 Background and History ................................................
443
19.3 Advances in Cooperative Vehicle Ocean Monitoring ..................
445
19.4 Recent Developments and Future Directions..........................
452
References .......................................................................
454
20 Nested Autonomy for Distributed Ocean Sensing
Henrik Schmidt, Michael R. Benjamin, Stephanie M. Petillo, Raymond Lum 459
20.1 Nested Autonomy .......................................................
460
20.2 Concept of Operations (CONOPS) ........................................
461
20.3 Autonomy ................................................................
463
20.4 Acoustic Communication Infrastructure ...............................
466
20.5 On-Board, Real-Time Signal Processing ...............................
467
20.6 Application Examples ...................................................
467
20.7 Conclusion ...............................................................
478
References .......................................................................
479
21 Science of Autonomy: Time-Optimal Path Planning
and Adaptive Sampling for Swarms of Ocean Vehicles
Pierre F.J. Lermusiaux, Tapovan Lolla, Patrick J. Haley Jr.,
Konuralp Yigit, Mattheus P. Ueckermann, Thomas Sondergaard,
Wayne G. Leslie ..................................................................
481
21.1 Time-Optimal Path Planning for Swarms of Ocean Vehicles .........
482
21.2 Adaptive Sampling for Swarms of Ocean Vehicles ....................
489
21.3 Conclusions and Outlook ...............................................
494
References .......................................................................
496
22 Cooperative Vehicle Target Tracking
Frank Ehlers ......................................................................
499
22.1 General Theoretical Framework ........................................
499
22.2 Distributed Sensing, Control, and Decisions ..........................
503
22.3 Multistatic Sonar ........................................................
505
22.4 Maritime Surveillance ...................................................
510
22.5 Effective Coordination Schemes ........................................
511
22.6 Conclusions and Recommendations ...................................
512
References .......................................................................
513
23 Rules of the Road for Unmanned Marine Vehicles
Joseph A. Curcio .................................................................
517