Smart Ocean Sensing Using the Telesupervised Adaptive Ocean Sensor Fleet

John M. Dolan, Gregg Podnar, Stephen B. Stancliff, Ellie Lin Ratliff, Alberto Elfes, John HIginbotham, Jeff Hosler, John Moisan, and Tiffany Moisan
Proc. 2008 NASA Earth Science Technology Conference (ESTC 2008), July, 2008.


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Abstract
This paper describes initial field test results using 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.

Keywords
harmful algal blooms, sensor web, ocean sensing, adaptive sampling, telesupervision, multirobot systems.

Notes
Associated Lab(s) / Group(s): Tele-Supervised Autonomous Robotics
Associated Project(s): Telesupervised Adaptive Ocean Sensor Fleet

Text Reference
John M. Dolan, Gregg Podnar, Stephen B. Stancliff, Ellie Lin Ratliff, Alberto Elfes, John HIginbotham, Jeff Hosler, John Moisan, and Tiffany Moisan, "Smart Ocean Sensing Using the Telesupervised Adaptive Ocean Sensor Fleet," Proc. 2008 NASA Earth Science Technology Conference (ESTC 2008), July, 2008.

BibTeX Reference
@inproceedings{Dolan_2008_6404,
   author = "John M Dolan and Gregg Podnar and Stephen B Stancliff and Ellie Lin Ratliff and Alberto Elfes and John HIginbotham and Jeff Hosler and John Moisan and Tiffany Moisan",
   title = "Smart Ocean Sensing Using the Telesupervised Adaptive Ocean Sensor Fleet",
   booktitle = "Proc. 2008 NASA Earth Science Technology Conference (ESTC 2008)",
   month = "July",
   year = "2008",
}