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

这项基础设施提案支持购置一支适合在沿海环境中作业的多机器人团队。机器人团队包括两个水下机器人(AUV)，三个水面机器人(ASV)，以及无人驾驶飞行器(UAV)：两个固定翼无人机和两个四轴飞行器。目标领域是南卡罗来纳州的沿海水域。在环境监测、国土安全、资源利用和污染跟踪等几个应用中，需要跟踪大量的水，记录一组属性，如盐度、温度、不同物质的存在，还需要记录所述物体的位置和边界。拟议的基础设施将使计算机研究能够解决上述问题。该项目围绕南卡罗来纳大学的几个CAISE研究领域进行研究，包括多机器人协调、路径规划和状态估计的算法开发；不确定条件下的规划；来自不同模式的传感器融合；以及人-机器人交互。

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.