NDLI: Operation of robotic science boats using the telesupervised adaptive ocean sensor fleet system

Content Provider	IEEE Xplore Digital Library
Author	Podnar, G.W. Dolan, J.M. Elfes, A. Stancliff, S. Lin, E. Hosier, J.C. Ames, T.J. Moisan, J. Moisan, T.A. Higinbotham, J. Kulczycki, E.A.
Copyright Year	2008
Description	Author affiliation: Robot. Inst., Carnegie-Mellon Univ., Pittsburgh, PA (Podnar, G.W.; Dolan, J.M.)
Abstract	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.
Starting Page	1061
Ending Page	1068
File Size	887709
Page Count	8
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543345
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Boats Oceans Sensor systems Robot kinematics Sensor phenomena and characterization Sea surface Humans Testing Software architecture
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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