Novel platform for ocean survey and autonomous sampling using multi-agent system

Conference paper (2013)

Authors

T. Taher MIT Alliance for Research and Technology (SMART)
Gabriel D. Weymouth MIT Alliance for Research and Technology (SMART)
Tony Varghese MIT Alliance for Research and Technology (SMART)
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Published Date

2013

Language

English

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Abstract

In-situ surveying and sampling of ocean environments provides critical data for laboratory work and oceanographic research. However, sampling a time-varying ocean field is often time and resource limited-meaning that samples often miss the features of interest. This paper presents a modular autonomous multi-agent robotic system which has been developed to accommodate a variety of research activities. This paper demonstrates the complementary capabilities of the agents by simultaneously surveying a time-varying coastal environment and using that information to obtain a sparse but representative set of water samples. This autonomous system enables the elimination of redundant resources, thereby reducing the overall cost of at-sea sampling and improving sample quality.