II-New: A Heterogeneous Team of Field Robots for Research into Coordinated Monitoring of Coastal Environments

该基础设施提案支持收购适合在沿海环境中操作的多机器人团队。机器人团队包括两个水下机器人（AUV），三个水面机器人（ASV），以及无人机（UAV）：两个固定翼无人机和两个四轴飞行器。目标区域是南卡罗来纳州的沿海沃茨。在环境监测、国土安全、资源利用和污染追踪等多种应用中，需要跟踪大量水，记录一组属性，例如盐度、温度、不同物质的存在，并且还记录位置和边界所述身体。该项目围绕南卡罗来纳州大学的几个CISE研究领域展开研究，包括多机器人协调、路径规划和状态估计的算法开发;不确定性下的规划;不同模态的传感器融合;以及人机交互。

This infrastructure proposal supports the acquisition of a multi-robot team suited for operationsin coastal environments. The robot team consists of two underwater vehicles (AUVs), threesurface vehicles (ASVs), as well as unmanned aerial vehicles (UAVs): two fixed-wing UAVs andtwo quadrocopters. The target domain is the coastal waters of South Carolina. In several applicationssuch as environmental monitoring, homeland security, resource utilization, and contaminationtracking, there is a need to track a mass of water, record a set of properties, such as salinity,temperature, presence of different substances, and also record the position and boundariesof the said body. The proposed infrastructure will enable computing research for addressingthe above problems.This project revolves around enabling research on several CISE researchfields at the University of South Carolina, including algorithmic development for multi-robotcoordination, path-planning and state estimation; planning under uncertainty; sensor fusionfrom different modalities; and human-robot interaction.