Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle

Andreas Hald; Oskar Emil Aver; Pernille Krog  Poulsen; Inkyung Sung; Peter Nielsen

doi:10.1007/978-3-030-23946-6_10

Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle

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

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Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

3 Citationer (Scopus)

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.

Originalsprog	Engelsk
Titel	Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019
Redaktører	Enrique Herrera-Viedma, Zita Vale, Peter Nielsen, Angel Martin Del Rey, Roberto Casado Vara
Antal sider	8
Forlag	Springer
Publikationsdato	2020
Sider	85-92
ISBN (Trykt)	978-3-030-23945-9
ISBN (Elektronisk)	978-3-030-23946-6
DOI	https://doi.org/10.1007/978-3-030-23946-6_10
Status	Udgivet - 2020
Begivenhed	16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019 - Avila, Spanien Varighed: 26 jun. 2019 → 28 jun. 2019

Konference

Konference	16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019
Land/Område	Spanien
By	Avila
Periode	26/06/2019 → 28/06/2019

Navn	Advances in Intelligent Systems and Computing
Vol/bind	1004
ISSN	2194-5357

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10.1007/978-3-030-23946-6_10

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Citationsformater

Hald, A., Aver, O. E., Poulsen, P. K., Sung, I., & Nielsen, P. (2020). Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle. I E. Herrera-Viedma, Z. Vale, P. Nielsen, A. Martin Del Rey, & R. Casado Vara (red.), Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019 (s. 85-92). Springer. https://doi.org/10.1007/978-3-030-23946-6_10

Hald, Andreas ; Aver, Oskar Emil ; Poulsen, Pernille Krog et al. / Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle. Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. red. / Enrique Herrera-Viedma ; Zita Vale ; Peter Nielsen ; Angel Martin Del Rey ; Roberto Casado Vara. Springer, 2020. s. 85-92 (Advances in Intelligent Systems and Computing, Bind 1004).

@inproceedings{97b16ef4d20f48829e6a4579c56297ca,

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.",

keywords = "Autonomous Surface Vehicle (ASV), Coverage path planning, Re-routing, Seabed mapping",

author = "Andreas Hald and Aver, {Oskar Emil} and Poulsen, {Pernille Krog} and Inkyung Sung and Peter Nielsen",

year = "2020",

doi = "10.1007/978-3-030-23946-6_10",

language = "English",

isbn = "978-3-030-23945-9",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer",

pages = "85--92",

editor = "Enrique Herrera-Viedma and Zita Vale and Peter Nielsen and {Martin Del Rey}, Angel and {Casado Vara}, Roberto",

booktitle = "Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019",

address = "Germany",

note = "16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019 ; Conference date: 26-06-2019 Through 28-06-2019",

}

Hald, A, Aver, OE , Poulsen, PK , Sung, I & Nielsen, P 2020, Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle. i E Herrera-Viedma, Z Vale, P Nielsen, A Martin Del Rey & R Casado Vara (red), Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, Advances in Intelligent Systems and Computing, bind 1004, s. 85-92, 16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019, 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 ; Poulsen, Pernille Krog et al.
Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. red. / Enrique Herrera-Viedma; Zita Vale; Peter Nielsen; Angel Martin Del Rey; Roberto Casado Vara. Springer, 2020. s. 85-92 (Advances in Intelligent Systems and Computing, Bind 1004).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle

AU - Hald, Andreas

AU - Aver, Oskar Emil

AU - Poulsen, Pernille Krog

AU - Sung, Inkyung

AU - Nielsen, Peter

PY - 2020

Y1 - 2020

N2 - 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.

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

UR - http://www.scopus.com/inward/record.url?scp=85068613863&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-23946-6_10

DO - 10.1007/978-3-030-23946-6_10

M3 - Article in proceeding

SN - 978-3-030-23945-9

T3 - Advances in Intelligent Systems and Computing

SP - 85

EP - 92

BT - Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019

A2 - Herrera-Viedma, Enrique

A2 - Vale, Zita

A2 - Nielsen, Peter

A2 - Martin Del Rey, Angel

A2 - Casado Vara, Roberto

PB - Springer

T2 - 16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019

Y2 - 26 June 2019 through 28 June 2019

ER -

Hald A, Aver OE , Poulsen PK , Sung I , Nielsen P. Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle. I Herrera-Viedma E, Vale Z, Nielsen P, Martin Del Rey A, Casado Vara R, red., Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer. 2020. s. 85-92. (Advances in Intelligent Systems and Computing, Bind 1004). doi: 10.1007/978-3-030-23946-6_10

Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle

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