论文标题
在水下功能跟踪中的实验，并使用小型AUV保证性能保证
Experiments in Underwater Feature Tracking with Performance Guarantees Using a Small AUV
论文作者
论文摘要
我们介绍了使用小型自主水下车辆进行实验的结果，以确定等距区域内的等距。这项工作的主要贡献是实施并整合了一些最新的开发环境映射计划，并在一个充满挑战的实际例子中证明了它们的实用性。我们使用高斯过程对操作区域内的测深度进行建模，并提出一个奖励函数，该奖励功能代表映射所需的同位物质的任务。正如必须根据实时传感器测量不断更新计划的应用程序一样，我们采用了一个后退的地平线框架，该框架不断计算近乎最佳的路径。通常，路径的序列通常不会继承每个单个路径的最优性。我们的实时计划实施结合了最新的结果，从而为后卫计划提供了绩效保证。
We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent developments real-time planning for environmental mapping, and to demonstrate their utility in a challenging practical example. We model the bathymetry within the operational area using a Gaussian process and propose a reward function that represents the task of mapping a desired isobath. As is common in applications where plans must be continually updated based on real-time sensor measurements, we adopt a receding horizon framework where the vehicle continually computes near-optimal paths. The sequence of paths does not, in general, inherit the optimality properties of each individual path. Our real-time planning implementation incorporates recent results that lead to performance guarantees for receding-horizon planning.
