Part B | 19
454 Part B Autonomous Ocean Vehicles, Subsystems and Control
of correlation structure has been shown to be critical to enhancing performance in the search algorithms
of [19.154]. This suggests approaches to systematize
means for robots to benefit from human input, for
example, by using observations of human choices to
estimate correlation structure and updating decisionmaking strategies accordingly. Further work that builds
on research on human decision-making and behavior
may allow derivation of engineering models and provable strategy design for well-integrated human–robot
teams in complex missions such as cooperative vehicles
for environmental monitoring.
References
19.1
S.H.D. Haddock, D.M. Fratantoni: Introduction to
the autonomous ocean sampling network (AOSNII) program, Deep-Sea Res. II 56, 61 (2009)
19.2
S.R. Ramp, R.E. Davis, N.E. Leonard, I. Shulman,
Y. Chao, A.R. Robinson, J. Marsden, P.F.J. Lermusiaux, D.M. Fratantoni, J.D. Paduan, F.P. Chavez,
F.L. Bahr, S. Liang, W. Leslie, Z. Li: Preparing to
predict: The second autonomous ocean sampling
network (AOSN-II) experiment in Monterey Bay,
Deep-Sea Res. II 56, 68–86 (2009)
19.3
N.E. Leonard, D.A. Paley, R.E. Davis, D.M. Fratantoni, F. Lekien, F. Zhang: Coordinated control
of an underwater glider fleet in an adaptive
ocean sampling field experiment in Monterey Bay,
J. Field Robotics 27(6), 718–740 (2010)
19.4
P. Ögren, E. Fiorelli, N.E. Leonard: Cooperative
control of mobile sensor networks: Adaptive gradient climbing in a distributed environment, IEEE
Trans. Autom. Control 49, 1292–1302 (2004)
19.5
E. Fiorelli, N.E. Leonard, P. Bhatta, D. Paley,
R. Bachmayer, D.M. Fratantoni: Multi-AUV control
and adaptive sampling in Monterey Bay, IEEE-JOE
31(4), 935–948 (2006)
19.6
N.E. Leonard, D.A. Paley, F. Lekien, R. Sepulchre,
D.M. Fratantoni, R.E. Davis: Collective motion,
sensor networks, and ocean sampling, Proc. IEEE
95, 48–74 (2007)
19.7
T.B. Curtin, J.G. Bellingham, J. Catipovic, D. Webb:
Autonomous oceanographic sampling networks,
Oceanography 6(3), 86–94 (1993)
19.8
J.G. Bellingham: New oceanographic uses of autonomous underwater vehicles, Mar. Technol.
Soc. J. 31(3), 34–47 (1997)
19.9
D.R. Yoerger, A.M. Bradley, B.B. Walden: The autonomous benthic explorer (ABE): An AUV optimized for deep seafloor studies, Proc. 7th UUST
(Autonomous Undersea Systems Institute, Lee
1991) pp. 60–70
19.10
J.G. Bellingham, C.A. Goudey, T.R. Consi, C. Chryssostomidis: A small, long-range vehicle for deep
ocean exploration, Proc. Int. Offshore Polar Eng.
Conf., Vol. 2 (International Society of Offshore and
Polar Engineers, Mountain View 1992) pp. 461–
467
19.11
C. Von Alt, B. Allen, T. Austin, R. Stokey: Remote
environmental measuring units, Proc. AUV (1994)
pp. 13–19
19.12
D.C. Webb, P.J. Simonetti, C.P. Jones: SLOCUM: An
underwater glider propelled by environmental
energy, IEEE-JOE 26(4), 447–452 (2001)
19.13
J. Sherman, R.E. Davis, W.B. Owens, J. Valdes:
The autonomous underwater glider Spray, IEEEJOE 26(4), 437–446 (2001)
19.14
C.C. Eriksen, T.J. Osse, R.D. Light, T. Wen,
T.W. Lehman, P.L. Sabin, J.W. Ballard, A.M. Chiodi:
Seaglider: A long-range autonomous underwater vehicle for oceanographic research, IEEE-JOE
26(4), 424–436 (1994)
19.15
D.L. Rudnick, R.E. Davis, C.C. Eriksen, D.M. Fratantoni, M.J. Perry: Underwater gliders for ocean
research, Mar. Technol. Soc. J. 38(1), 48–59 (2004)
19.16
C.C. Eriksen, M.J. Perry: The nurturing of Seagliders by the National Oceanographic Partnership
Program, Oceanography 22(2), 146–157 (2009)
19.17
D.R. Yoerger, A. Bradley, B. Walden, H. Singh,
R. Bachmayer: Surveying a subsea lava flow using
the autonomous benthic explorer (ABE), J. Jpn.
Soc. Mar. Surveys Technol. 9(1), 43–60 (1997)
19.18
M.A. Tivey, H.P. Johnson, A.M. Bradley,
D.R. Yoerger: Thickness of a submarine lava
flow determined from near-bottom magnetic
field mapping by autonomous underwater
vehicle, Geophys. Res. Lett. 25(6), 805–808
(1998)
19.19
M.V. Jakuba, D.R. Yoerger: High-resolution multibeam sonar mapping with the autonomous benthic explorer (ABE), Proc. 13th UUST (Autonomous
Undersea Systems Institute, Lee 2003)
19.20
C.R. German, D.P. Connelly, R.D. Prien,
D.R. Yoerger, M. Jakuba, A. Bradley, T. Shank,
K.I. Nakamura, C. Langmuir, L.M. Parsons: New
techniques for hydrothermal plume investigaton
by AUV, Geophys. Res. Abstracts 7, 04361 (2005)
19.21
J.G. Bellingham, J.J. Leonard, J. Vaganay,
C.A. Goudey, D.K. Atwood, T.R. Consi, J.W. Bales,
H. Schmidt, C. Chryssostomidis: AUV operations in
the Arctic, Proc. 8th UUST (Autonomous Undersea
Systems Institute, Lee 1993)
19.22
S. Blackwell, J. Case, S. Glenn, J. Kohut, M. Moline, M. Purcell, O. Schofield, C. Von Alt: A new AUV
platform for studying near shore bioluminescence
structure. In: Bioluminesence and Chemiluminescence: Progress and Current Applications, ed. by
L.J. Kricka, P.E. Stanley (World Scientific, Singapore 2002) pp. 197–200
19.23
M.A. Moline, P. Bissett, S. Blackwell, J. Mueller,
J. Sevadjian, C. Trees, R. Zaneveld: An autonomous vehicle approach for quantifying bioluminescence in ports and harbors, Proc. SPIE
5780, 81–87 (2005)
454 Part B Autonomous Ocean Vehicles, Subsystems and Control
of correlation structure has been shown to be critical to enhancing performance in the search algorithms
of [19.154]. This suggests approaches to systematize
means for robots to benefit from human input, for
example, by using observations of human choices to
estimate correlation structure and updating decisionmaking strategies accordingly. Further work that builds
on research on human decision-making and behavior
may allow derivation of engineering models and provable strategy design for well-integrated human–robot
teams in complex missions such as cooperative vehicles
for environmental monitoring.
References
19.1
S.H.D. Haddock, D.M. Fratantoni: Introduction to
the autonomous ocean sampling network (AOSNII) program, Deep-Sea Res. II 56, 61 (2009)
19.2
S.R. Ramp, R.E. Davis, N.E. Leonard, I. Shulman,
Y. Chao, A.R. Robinson, J. Marsden, P.F.J. Lermusiaux, D.M. Fratantoni, J.D. Paduan, F.P. Chavez,
F.L. Bahr, S. Liang, W. Leslie, Z. Li: Preparing to
predict: The second autonomous ocean sampling
network (AOSN-II) experiment in Monterey Bay,
Deep-Sea Res. II 56, 68–86 (2009)
19.3
N.E. Leonard, D.A. Paley, R.E. Davis, D.M. Fratantoni, F. Lekien, F. Zhang: Coordinated control
of an underwater glider fleet in an adaptive
ocean sampling field experiment in Monterey Bay,
J. Field Robotics 27(6), 718–740 (2010)
19.4
P. Ögren, E. Fiorelli, N.E. Leonard: Cooperative
control of mobile sensor networks: Adaptive gradient climbing in a distributed environment, IEEE
Trans. Autom. Control 49, 1292–1302 (2004)
19.5
E. Fiorelli, N.E. Leonard, P. Bhatta, D. Paley,
R. Bachmayer, D.M. Fratantoni: Multi-AUV control
and adaptive sampling in Monterey Bay, IEEE-JOE
31(4), 935–948 (2006)
19.6
N.E. Leonard, D.A. Paley, F. Lekien, R. Sepulchre,
D.M. Fratantoni, R.E. Davis: Collective motion,
sensor networks, and ocean sampling, Proc. IEEE
95, 48–74 (2007)
19.7
T.B. Curtin, J.G. Bellingham, J. Catipovic, D. Webb:
Autonomous oceanographic sampling networks,
Oceanography 6(3), 86–94 (1993)
19.8
J.G. Bellingham: New oceanographic uses of autonomous underwater vehicles, Mar. Technol.
Soc. J. 31(3), 34–47 (1997)
19.9
D.R. Yoerger, A.M. Bradley, B.B. Walden: The autonomous benthic explorer (ABE): An AUV optimized for deep seafloor studies, Proc. 7th UUST
(Autonomous Undersea Systems Institute, Lee
1991) pp. 60–70
19.10
J.G. Bellingham, C.A. Goudey, T.R. Consi, C. Chryssostomidis: A small, long-range vehicle for deep
ocean exploration, Proc. Int. Offshore Polar Eng.
Conf., Vol. 2 (International Society of Offshore and
Polar Engineers, Mountain View 1992) pp. 461–
467
19.11
C. Von Alt, B. Allen, T. Austin, R. Stokey: Remote
environmental measuring units, Proc. AUV (1994)
pp. 13–19
19.12
D.C. Webb, P.J. Simonetti, C.P. Jones: SLOCUM: An
underwater glider propelled by environmental
energy, IEEE-JOE 26(4), 447–452 (2001)
19.13
J. Sherman, R.E. Davis, W.B. Owens, J. Valdes:
The autonomous underwater glider Spray, IEEEJOE 26(4), 437–446 (2001)
19.14
C.C. Eriksen, T.J. Osse, R.D. Light, T. Wen,
T.W. Lehman, P.L. Sabin, J.W. Ballard, A.M. Chiodi:
Seaglider: A long-range autonomous underwater vehicle for oceanographic research, IEEE-JOE
26(4), 424–436 (1994)
19.15
D.L. Rudnick, R.E. Davis, C.C. Eriksen, D.M. Fratantoni, M.J. Perry: Underwater gliders for ocean
research, Mar. Technol. Soc. J. 38(1), 48–59 (2004)
19.16
C.C. Eriksen, M.J. Perry: The nurturing of Seagliders by the National Oceanographic Partnership
Program, Oceanography 22(2), 146–157 (2009)
19.17
D.R. Yoerger, A. Bradley, B. Walden, H. Singh,
R. Bachmayer: Surveying a subsea lava flow using
the autonomous benthic explorer (ABE), J. Jpn.
Soc. Mar. Surveys Technol. 9(1), 43–60 (1997)
19.18
M.A. Tivey, H.P. Johnson, A.M. Bradley,
D.R. Yoerger: Thickness of a submarine lava
flow determined from near-bottom magnetic
field mapping by autonomous underwater
vehicle, Geophys. Res. Lett. 25(6), 805–808
(1998)
19.19
M.V. Jakuba, D.R. Yoerger: High-resolution multibeam sonar mapping with the autonomous benthic explorer (ABE), Proc. 13th UUST (Autonomous
Undersea Systems Institute, Lee 2003)
19.20
C.R. German, D.P. Connelly, R.D. Prien,
D.R. Yoerger, M. Jakuba, A. Bradley, T. Shank,
K.I. Nakamura, C. Langmuir, L.M. Parsons: New
techniques for hydrothermal plume investigaton
by AUV, Geophys. Res. Abstracts 7, 04361 (2005)
19.21
J.G. Bellingham, J.J. Leonard, J. Vaganay,
C.A. Goudey, D.K. Atwood, T.R. Consi, J.W. Bales,
H. Schmidt, C. Chryssostomidis: AUV operations in
the Arctic, Proc. 8th UUST (Autonomous Undersea
Systems Institute, Lee 1993)
19.22
S. Blackwell, J. Case, S. Glenn, J. Kohut, M. Moline, M. Purcell, O. Schofield, C. Von Alt: A new AUV
platform for studying near shore bioluminescence
structure. In: Bioluminesence and Chemiluminescence: Progress and Current Applications, ed. by
L.J. Kricka, P.E. Stanley (World Scientific, Singapore 2002) pp. 197–200
19.23
M.A. Moline, P. Bissett, S. Blackwell, J. Mueller,
J. Sevadjian, C. Trees, R. Zaneveld: An autonomous vehicle approach for quantifying bioluminescence in ports and harbors, Proc. SPIE
5780, 81–87 (2005)