ITR/AP+SI: Real-Time Spatio-Temporal Interfaces for Remote Oceanographic Exploration with Underwater Robotic Vehicles

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AbstractROVs, AUVs and other submarine robotic systems deliver quantitative data from sensors at a huge and escalating rate. Usually these data are stored for later processing and are viewed in real time as numbers flashing by on a screen. What is needed is a way to utilize these data more fully in real time to optimize the use of robotic vehicles for science. This proposal explores three ways of making progress on this goal. 1) develop interactive 3-D graphic interfaces for data display, 2) develop sensor-based macros for performing routine tasks such as surveys, docking, obstacle avoidance and other functions, 3) Test the effect on mission performance of prioritizing data transmission over low-bandwidth acoustic channels, These will be developed on full-scale dynamically positioned vehicles and will extend the present capabilities of underwater robotic vehicles for more difficult and complex tasks.