Seabed coverage path re-routing for an autonomous surface vehicle

Andreas Hald, Oskar Emil Aver, Pernille Krog, Inkyung Sung*, Peter Nielsen

*Kontaktforfatter

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1 Citation (Scopus)

Resumé

An Autonomous Surface Vehicle (ASV) equipped with a sonar sensor is used to survey seabed. As a ASV sails an offshore region guided by a coverage path, the unit collects sonar data utilized to map the seabed of the region. However, a sonar sensor occasionally fails to provide data with an adequate quality for the mapping. This calls the necessity of re-routing compared to the original path assigned to an operating ASV, as the ASV needs to re-visit the areas where the sensor data is inadequate. Motivated by the fact, we address the issues in the ASV re-routing from scheduling perspective and propose an approach to solve the problem.
OriginalsprogEngelsk
TitelDistributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019
Antal sider8
ForlagSpringer
Publikationsdato2020
Sider85-92
ISBN (Trykt)9783030239459
DOI
StatusUdgivet - 2020
Begivenhed16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019 - Avila, Spanien
Varighed: 26 jun. 201928 jun. 2019

Konference

Konference16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019
LandSpanien
ByAvila
Periode26/06/201928/06/2019
NavnAdvances in Intelligent Systems and Computing
Vol/bind1004
ISSN2194-5357

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Sonar
Sensors
Scheduling

Citer dette

Hald, A., Aver, O. E., Krog, P., Sung, I., & Nielsen, P. (2020). Seabed coverage path re-routing for an autonomous surface vehicle. I Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019 (s. 85-92). Springer. Advances in Intelligent Systems and Computing, Bind. 1004 https://doi.org/10.1007/978-3-030-23946-6_10
Hald, Andreas ; Aver, Oskar Emil ; Krog, Pernille ; Sung, Inkyung ; Nielsen, Peter. / Seabed coverage path re-routing for an autonomous surface vehicle. Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, 2020. s. 85-92 (Advances in Intelligent Systems and Computing, Bind 1004).
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title = "Seabed coverage path re-routing for an autonomous surface vehicle",
abstract = "An Autonomous Surface Vehicle (ASV) equipped with a sonar sensor is used to survey seabed. As a ASV sails an offshore region guided by a coverage path, the unit collects sonar data utilized to map the seabed of the region. However, a sonar sensor occasionally fails to provide data with an adequate quality for the mapping. This calls the necessity of re-routing compared to the original path assigned to an operating ASV, as the ASV needs to re-visit the areas where the sensor data is inadequate. Motivated by the fact, we address the issues in the ASV re-routing from scheduling perspective and propose an approach to solve the problem.",
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author = "Andreas Hald and Aver, {Oskar Emil} and Pernille Krog and Inkyung Sung and Peter Nielsen",
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Hald, A, Aver, OE, Krog, P, Sung, I & Nielsen, P 2020, Seabed coverage path re-routing for an autonomous surface vehicle. i Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, Advances in Intelligent Systems and Computing, bind 1004, s. 85-92, Avila, Spanien, 26/06/2019. https://doi.org/10.1007/978-3-030-23946-6_10

Seabed coverage path re-routing for an autonomous surface vehicle. / Hald, Andreas; Aver, Oskar Emil; Krog, Pernille; Sung, Inkyung; Nielsen, Peter.

Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, 2020. s. 85-92 (Advances in Intelligent Systems and Computing, Bind 1004).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

TY - GEN

T1 - Seabed coverage path re-routing for an autonomous surface vehicle

AU - Hald, Andreas

AU - Aver, Oskar Emil

AU - Krog, Pernille

AU - Sung, Inkyung

AU - Nielsen, Peter

PY - 2020

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AB - An Autonomous Surface Vehicle (ASV) equipped with a sonar sensor is used to survey seabed. As a ASV sails an offshore region guided by a coverage path, the unit collects sonar data utilized to map the seabed of the region. However, a sonar sensor occasionally fails to provide data with an adequate quality for the mapping. This calls the necessity of re-routing compared to the original path assigned to an operating ASV, as the ASV needs to re-visit the areas where the sensor data is inadequate. Motivated by the fact, we address the issues in the ASV re-routing from scheduling perspective and propose an approach to solve the problem.

KW - Autonomous Surface Vehicle (ASV)

KW - Coverage path planning

KW - Re-routing

KW - Seabed mapping

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Hald A, Aver OE, Krog P, Sung I, Nielsen P. Seabed coverage path re-routing for an autonomous surface vehicle. I Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer. 2020. s. 85-92. (Advances in Intelligent Systems and Computing, Bind 1004). https://doi.org/10.1007/978-3-030-23946-6_10