相关论文: Estimation of Spatially-Correlated Ocean Currents …

Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…

Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such position drift to estimate the ocean current in the surrounding…

For oceanographic applications, probabilistic forecasts typically have to deal with i) high-dimensional complex models, and ii) very sparse spatial observations. In search-and-rescue operations at sea, for instance, the short-term…

Based on machine learning techniques, we propose a novel method to estimate flow fields using only floating sensor locations. This method does not require either ground-truth velocity fields or governing equations for fluid flows, which is…

Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…

Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computational efficiency. Important to such planners is an efficient…

A big challenge in environmental monitoring is the spatiotemporal variation of the phenomena to be observed. To enable persistent sensing and estimation in such a setting, it is beneficial to have a time-varying underlying environmental…

Partitioning ocean flows into regions dynamically distinct from their surroundings based on material transport can assist search-and-rescue planning by reducing the search domain. The spectral clustering method partitions the domain by…

In situ and remotely sensed observations have potential to facilitate data-driven predictive models for oceanography. A suite of machine learning models, including regression, decision tree and deep learning approaches were developed to…

Understanding local currents in the North Atlantic region of the ocean is a key part of modelling heat transfer and global climate patterns. Satellites provide a surface signature of the temperature of the ocean with a high horizontal…

Unmanned Surface Vehicles (USVs) in the ocean environment, considering various spatiotemporal factors such as ocean currents and other energy consumption factors. The paper uses Gaussian Process Motion Planning (GPMP2), a Bayesian…

In the autonomous ocean monitoring task, the sampling robot moves in the environment and accumulates data continuously. The widely adopted spatial modeling method - standard Gaussian process (GP) regression - becomes inadequate in…

In this paper, we analyze the predictability of the ocean currents using deep learning. More specifically, we apply the Long Short Term Memory (LSTM) deep learning network to a data set collected by the National Oceanic and Atmospheric…

Robust velocity and position estimation is crucial for autonomous robot navigation. The optical flow based methods for autonomous navigation have been receiving increasing attentions in tandem with the development of micro unmanned aerial…

A real time assimilation and forecasting system for coastal currents is presented. The purpose of the system is to deliver current analyses and forecasts based on assimilation of high frequency radar surface current measurements. The local…

In Wang & Pan (J. Fluid Mech., vol. 918, A19, 2021), the authors developed the first ensemble-based data assimilation (DA) capability for the reconstruction and forecast of ocean surface waves, namely the EnKF-HOS method coupling an…

Motion estimation is one of the core challenges in computer vision. With traditional dual-frame approaches, occlusions and out-of-view motions are a limiting factor, especially in the context of environmental perception for vehicles due to…

This paper presents a survey of ocean simulation and rendering methods in computer graphics. To model and animate the ocean's surface, these methods mainly rely on two main approaches: on the one hand, those which approximate ocean dynamics…

The mapping of ocean floor layers is a current challenge for the oil industry. Existing solution methods involve mapping through seismic methods and wave inversion, which are complex and computationally expensive. The introduction of…

Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor…