Knowledge Resource Center for Ecological Environment in Arid Area
DOI | 10.1109/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 |
ISSN | 1050-4729 |
出版年 | 2008 |
页码 | 1061-+ |
ISBN | 978-1-4244-1646-2 |
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 |
推荐引用方式 GB/T 7714 | 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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