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A Data-Driven Exploratory Approach for Level Curve Estimation With Autonomous Underwater Agents

[+] Author Affiliations
Hsien-Chung Lin, Masayoshi Tomizuka

University of California, Berkeley, California

Eugen Solowjow, Edwin Kreuzer

Hamburg University of Technology, Hamburg, Germany

Paper No. DSCC2017-5118, pp. V002T14A005; 6 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


This contribution presents a method to estimate environmental boundaries with mobile agents. The agents sample a concentration field of interest at their respective positions and infer a level curve of the unknown field. The presented method is based on support vector machines (SVMs), whereby the concentration level of interest serves as the decision boundary. The field itself does not have to be estimated in order to obtain the level curve which makes the method computationally very appealing. A myopic strategy is developed to pick locations that yield most informative concentration measurements. Cooperative operations of multiple agents are demonstrated by dividing the domain in Voronoi tessellations. Numerical studies demonstrate the feasibility of the method on a real data set of the California coastal area. The exploration strategy is benchmarked against random walk which it clearly outperforms.

Copyright © 2017 by ASME



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