Advancing multi-vehicle deployments in oceanographic field experiments
Advancing multi-vehicle deployments in oceanographic field experiments
复制标题
推进海洋学现场实验中的多车辆部署
作者：
António Sérgio Ferreira;Maria Costa;F. Py;José Pinto;Mónica A. Silva;A. Nimmo;T. Johansen;J. B. de Sousa;K. Rajan
我们的研究涉及用于上部水柱海洋学观测的机器人车辆的协调和控制。在这样的环境中，操作多艘车辆来观察从锋面到鲸类的动态海洋现象，例如海洋过程和海洋生物，要求我们设计、实施和操作软件、方法和流程，以支持现实世界环境中具有重大限制的机会主义需求。在这项工作中，提出了一种使用此类平台进行协调测量的方法，该方法与任务结果直接相关。我们展示了基于人工智能的新型混合主动系统的使用和操作价值，该系统用于处理多个平台以及在公海进行此类操作所需的网络基础设施支持。我们阐明了对此类部署至关重要的一系列中间件架构的需求和使用，并将其置于 2015 年夏季大西洋中部开放水域现场实验的背景下。
Our research concerns the coordination and control of robotic vehicles for upper water-column oceanographic observations. In such an environment, operating multiple vehicles to observe dynamic oceanographic phenomena, such as ocean processes and marine life, from fronts to cetaceans, has required that we design, implement and operate software, methods and processes which can support opportunistic needs in real-world settings with substantial constraints. In this work, an approach for coordinated measurements using such platforms, which relate directly to task outcomes, is presented. We show the use and operational value of a new Artificial Intelligence based mixed-initiative system for handling multiple platforms along with the networked infrastructure support needed to conduct such operations in the open sea. We articulate the need and use of a range of middleware architectures, critical for such deployments and ground this in the context of a field experiment in open waters of the mid-Atlantic in the summer of 2015.