Arid
DOI10.1109/ROBOT.2008.4543345
Operation of robotic science boats using the Telesupervised Adaptive Ocean Sensor Fleet system
Podnar, Gregg W.2; Dolan, John M.2; Elfes, Alberto1,2; Stancliff, Stephen2; Lin, Ellie2; Hosler, Jeffrey C.3; Ames, Troy J.3; Moisan, John4; Moisan, Tiffany A.4; Higinbotham, John5; Kulczycki, Eric A.1,6
通讯作者Elfes, Alberto
会议名称IEEE International Conference on Robotics and Automation
会议日期MAY 19-23, 2008
会议地点Pasadena, CA
英文摘要

This paper describes a multi-robot science exploration software architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended-deployment autonomous ocean surface vessels, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using a multi-level autonomy control architecture, where the operating mode of the vehicles ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.


来源出版物2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9
ISSN1050-4729
出版年2008
页码1061-+
ISBN978-1-4244-1646-2
出版者IEEE
类型Proceedings Paper
语种英语
国家USA
收录类别CPCI-S
WOS记录号WOS:000258095000168
WOS类目Automation & Control Systems ; Robotics
WOS研究方向Automation & Control Systems ; Robotics
资源类型会议论文
条目标识符http://119.78.100.177/qdio/handle/2XILL650/296919
作者单位1.CALTECH, Jet Prop Lab, 4800 Oak Grove Dr, Pasadena, CA 91109 USA;
2.Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA;
3.NASA, Goddard Space Flight Facil, Greenbelt, MD 20771 USA;
4.NASA, Wallops Flight Facil, Wallops Isl, VA 23337 USA;
5.Emergent Space Technol, Greenbelt, MD 20770 USA;
6.CALTECH, Jet Prop Lab, Pasadena, CA 91109 USA
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Podnar, Gregg W.,Dolan, John M.,Elfes, Alberto,et al. Operation of robotic science boats using the Telesupervised Adaptive Ocean Sensor Fleet system[C]:IEEE,2008:1061-+.
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