{"id":3118,"date":"2014-06-29T21:51:56","date_gmt":"2014-06-30T01:51:56","guid":{"rendered":"http:\/\/mseas.mit.edu\/?p=3118"},"modified":"2021-07-06T13:14:24","modified_gmt":"2021-07-06T17:14:24","slug":"time-optimal-path-planning-in-dynamic-flows-using-level-set-equations-realistic-applications","status":"publish","type":"post","link":"https:\/\/mseas.mit.edu\/?p=3118","title":{"rendered":"Time-Optimal Path Planning in Dynamic Flows using Level Set Equations: Realistic Applications"},"content":{"rendered":"The level set methodology for time-optimal path planning is employed to predict collision-free and fastest time trajectories for swarms of underwater vehicles deployed in the Philippine Archipelago region. \r\nTo simulate the multiscale ocean flows in this complex region, a data-assimilative primitive-equation ocean modeling system is employed with \r\ntelescoping domains that are interconnected by implicit two-way nesting.\r\nThese data-driven multiresolution simulations provide a \r\nrealistic flow environment, including variable large-scale currents,\r\nstrong jets, eddies, wind-driven currents and tides. \r\nThe properties and capabilities of the rigorous level set methodology are\r\nillustrated and assessed quantitatively for several vehicle types and mission scenarios.\r\nFeasibility studies of all-to-all broadcast missions, leading to minimal time transmission between source and receiver locations, are performed using a large number of vehicles.\r\nThe results with gliders and faster propelled vehicles are compared. \r\nReachability studies, i.e.~determining the boundaries of regions that can be reached by vehicles for exploratory missions, are then exemplified and analyzed.\r\nFinally, the methodology is used to determine the optimal strategies \r\nfor fastest time pick-up of deployed gliders by means of\r\nunderway surface vessels or stationary platforms.\r\nThe results highlight the complex effects of multiscale flows on the optimal paths,\r\nthe need to utilize the ocean environment for more efficient autonomous\r\nmissions and the benefits of including ocean forecasts in the planning of time-optimal paths.","protected":false},"excerpt":{"rendered":"<p>The level set methodology for time-optimal path planning is employed to predict collision-free and fastest time trajectories for swarms of underwater vehicles deployed in the Philippine Archipelago region. To simulate the multiscale ocean flows in this complex region, a data-assimilative primitive-equation ocean modeling system is employed with telescoping domains that are interconnected by implicit two-way [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[183,35,5,63],"tags":[117,123,119,118,108,134,99,116,106,135,115,110,107],"class_list":["post-3118","post","type-post","status-publish","format-standard","hentry","category-science-of-autonomy","category-optimal-path-planning","category-publications","category-papers-in-refereed-journals-optimal-path-planning","tag-auvs","tag-dynamic-flows","tag-energy-optimal","tag-gliders","tag-level-set","tag-mseas","tag-multiscale","tag-ocean-sampling","tag-path-planning","tag-philippines","tag-reachability","tag-swarms","tag-time-optimal"],"_links":{"self":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3118","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3118"}],"version-history":[{"count":15,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3118\/revisions"}],"predecessor-version":[{"id":3366,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=\/wp\/v2\/posts\/3118\/revisions\/3366"}],"wp:attachment":[{"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3118"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3118"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mseas.mit.edu\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3118"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}