Yilmaz, N.K., C. Evangelinos, N.M. Patrikalakis, P.F.J. Lermusiaux, P.J. Haley, W.G. Leslie, A.R. Robinson, D. Wang and H. Schmidt, 2006a. Path Planning Methods for Adaptive Sampling of Environmental and Acoustical Ocean Fields, Oceans 2006, 6pp, Boston, MA, 18-21 Sept. 2006, doi: 10.1109/OCEANS.2006.306841.
Adaptive sampling aims to predict the types and
locations of additional observations that are most useful for specific
objectives, under the constraints of the available observing
network. Path planning refers to the computation of the routes
of the assets that are part of the adaptive component of the
observing network. In this paper, we present two path planning
methods based on Mixed Integer Linear Programming (MILP).
The methods are illustrated with some examples based on environmental
ocean fields and compared to highlight their strengths
and weaknesses. The stronger method is further demonstrated on
a number of examples covering multi-vehicle and multi-day path
planning, based on simulations for the Monterey Bay region.
The framework presented is powerful and flexible enough to
accommodate changes in scenarios. To demonstrate this feature,
acoustical path planning is also discussed.