Lermusiaux P.F.J, T. Lolla, P.J. Haley. Jr., K. Yigit, M.P. Ueckermann, T. Sondergaard and W.G. Leslie, 2013. Science of Autonomy: Time-Optimal Path Planning and Adaptive Sampling for Swarms of Ocean Vehicles. Chapter 11, Springer Handbook of Ocean Engineering: Autonomous Ocean Vehicles, Subsystems and Control, Tom Curtin (Ed.), submitted.
“Science of Autonomy” results obtained by our MSEAS group and recent collaborators are summarized. We present a subset of our results on time-optimal path planning for swarms of ocean vehicles and review some of our research in adaptive sampling. The path planning and adaptive sampling schemes and approaches presented were illustrated by their applications in idealized and realistic ocean conditions. In coming decades, in light of the increasing human population on Earth, the ocean, with the water and life it contains, is likely to become more and more important. Since data collection and operations at sea are expensive, utilizing all of the knowledge we have to plan such collections and operations is logical and most important. Useful knowledge here combines science and engineering, including observation, modeling, prediction, estimation and control. Today, one can only assume that the science of autonomy will play an increasing role in ocean applications. This is because sustaining healthy interactions between the ocean and humans is vital to life on Earth. These interactions will have to be intelligently and autonomously managed.