Adaptive Sampling Using Feedback Control of an Autonomous Underwater Glider Fleet

In this paper we present strategies for adaptive sampling using Autonomous Underwater Vehicle (AUV) ∞eets. The central theme of our strategies is the use of feedback that integrates distributed in-situ measurements into a coordinated mission planner. The measurements consist of GPS updates and estimated gradients of the environmental flelds (e.g., temperature) that are used to navigate the AUV ∞eets enabling effective front tracking and/or feature detection. To this efiect these ∞eets are required to translate to collect and seek good data, expand/contract to efiect changes in sensor resolution, and rotate and reconflgure to maximize sensing coverage, all while retaining a prescribed formation. These strategies play a key role in directing a cooperative ∞eet of autonomous underwater gliders in the flrst experiment of the O‐ce of Naval Research sponsored Autonomous Ocean Sampling Network II (AOSN-II) project in Monterey Bay, during August-September 2003. We present the coordination framework and investigate the efiectiveness of our sampling strategies in the context of AOSN-II via detailed simulations.

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