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

^*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

3 Citations (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.

Original language	English
Title of host publication	Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019
Editors	Enrique Herrera-Viedma, Zita Vale, Peter Nielsen, Angel Martin Del Rey, Roberto Casado Vara
Number of pages	8
Publisher	Springer
Publication date	2020
Pages	85-92
ISBN (Print)	978-3-030-23945-9
ISBN (Electronic)	978-3-030-23946-6
DOIs	https://doi.org/10.1007/978-3-030-23946-6_10
Publication status	Published - 2020
Event	16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019 - Avila, Spain Duration: 26 Jun 2019 → 28 Jun 2019

Conference

Conference	16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019
Country/Territory	Spain
City	Avila
Period	26/06/2019 → 28/06/2019

Series	Advances in Intelligent Systems and Computing
Volume	1004
ISSN	2194-5357

Keywords

Autonomous Surface Vehicle (ASV)
Coverage path planning
Re-routing
Seabed mapping

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

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Hald, A., Aver, O. E., Poulsen, P. K., Sung, I., & Nielsen, P. (2020). Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle. In E. Herrera-Viedma, Z. Vale, P. Nielsen, A. Martin Del Rey, & R. Casado Vara (Eds.), Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019 (pp. 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. editor / Enrique Herrera-Viedma ; Zita Vale ; Peter Nielsen ; Angel Martin Del Rey ; Roberto Casado Vara. Springer, 2020. pp. 85-92 (Advances in Intelligent Systems and Computing, Vol. 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",

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Hald, A, Aver, OE , Poulsen, PK , Sung, I & Nielsen, P 2020, Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle. in E Herrera-Viedma, Z Vale, P Nielsen, A Martin Del Rey & R Casado Vara (eds), Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer, Advances in Intelligent Systems and Computing, vol. 1004, pp. 85-92, 16th International Conference on Distributed Computing and Artificial Intelligence, DCAI 2019, Avila, Spain, 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. ed. / Enrique Herrera-Viedma; Zita Vale; Peter Nielsen; Angel Martin Del Rey; Roberto Casado Vara. Springer, 2020. p. 85-92 (Advances in Intelligent Systems and Computing, Vol. 1004).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › 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

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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. In Herrera-Viedma E, Vale Z, Nielsen P, Martin Del Rey A, Casado Vara R, editors, Distributed Computing and Artificial Intelligence, 16th International Conference, Special Sessions, 2019. Springer. 2020. p. 85-92. (Advances in Intelligent Systems and Computing, Vol. 1004). doi: 10.1007/978-3-030-23946-6_10

Seabed Coverage Path Re-routing for an Autonomous Surface Vehicle

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