Data Correlation and Comparison from Multiple Sensors Over a Coral Reef with a Team of Heterogeneous Aquatic Robots

  • Alberto Quattrini Li
  • Ioannis Rekleitis
  • Sandeep Manjanna
  • Nikhil Kakodkar
  • Johanna Hansen
  • Gregory Dudek
  • Leonardo Bobadilla
  • Jacob Anderson
  • Ryan N. Smith
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 1)


This paper presents experimental insights from the deployment of an ensemble of heterogeneous autonomous sensor systems over a shallow coral reef. Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef. Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.


Coral Reef Inertial Measurement Unit Autonomous Underwater Vehicle Coral Bleaching Zernike Moment 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The authors would like to thank the generous support of the Google Faculty Research Award and the National Science Foundation grants (NSF 0953503, 1513203, 1526862, 1637876).


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Alberto Quattrini Li
    • 1
  • Ioannis Rekleitis
    • 1
  • Sandeep Manjanna
    • 2
  • Nikhil Kakodkar
    • 2
  • Johanna Hansen
    • 2
  • Gregory Dudek
    • 2
  • Leonardo Bobadilla
    • 3
  • Jacob Anderson
    • 4
  • Ryan N. Smith
    • 4
  1. 1.University of South CarolinaColumbiaUSA
  2. 2.McGill UniversityMontrealCanada
  3. 3.Florida International UniversityMiamiUSA
  4. 4.Fort Lewis CollegeDurangoUSA

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