Summary
Knowledge of iso-contours of the underwater terrain can be used to reconstruct it using interpolation. Identifying a set of isoclines can be more efficient and less time-intensive than sweeping a large area. In this paper, we propose a system where a small number of agile underwater vehicles cooperatively maintain a polygonal formation on a plane above the terrain and use field values measured by the individual robots to locally reconstruct the field using interpolation schemes. The formation then tracks a desired iso-contour of the field by tracking the corresponding curve on the reconstructed field.
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Kalantar, S., Zimmer, U. (2008). Tracking Environmental Isoclines Using Polygonal Formations of Submersible Autonomous Vehicles. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_13
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DOI: https://doi.org/10.1007/978-3-540-75404-6_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75403-9
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