Toward Autonomous Scientific Exploration of Ice-covered Lakes—Field Experiments with the ENDURANCE AUV in an Antarctic Dry Valley

• Main Authors: Shilpa Gulati, Kristof Richmond, Christopher Flesher, Bartholomew P. Hogan, Aniket Murarka, Gregory Kuhlmann, Mohan Sridharan, William C. Stone, Peter T. Doran
• Other Authors: The Pennsylvania State University CiteSeerX Archives
• Format: Text
• Language: English
• Subjects: Antarctic; Bonney; Lake Bonney; Taylor Valley; Antarc*; Antarctica
• Online Access: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.9335; http://www.cs.utexas.edu/%7Eshilpa/publications/2010/gulati-icra-10.pdf

Abstract — Chemical properties of lake water can provide valuable insight into its ecology. Lakes that are permanently frozen over with ice are generally inaccessible to comprehensive exploration by humans. This paper describes the integration of several novel and existing technologies into an auton...