An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation
Motivated by a changing acoustic environment in the Arctic Beaufort Sea, in this article, we present a tactical decision aid framework for a human decision-maker collaborating with an autonomous underwater vehicle (AUV) to integrate the vertical sound-speed profile for underwater navigation and comm...
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ftmit:oai:dspace.mit.edu:1721.1/154265 2024-05-19T07:36:16+00:00 An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation Bhatt, EeShan C. Howard, Bradli Schmidt, Henrik 2024-04-23T15:53:37Z application/pdf https://hdl.handle.net/1721.1/154265 en eng Institute of Electrical and Electronics Engineers 10.1109/joe.2022.3159234 IEEE Journal of Oceanic Engineering 0364-9059 1558-1691 2373-7786 https://hdl.handle.net/1721.1/154265 Bhatt, EeShan C., Howard, Bradli and Schmidt, Henrik. 2022. "An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation." IEEE Journal of Oceanic Engineering, 47 (4). Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ Institute of Electrical and Electronics Engineers Electrical and Electronic Engineering Mechanical Engineering Ocean Engineering Article http://purl.org/eprint/type/JournalArticle 2024 ftmit 2024-04-30T23:30:25Z Motivated by a changing acoustic environment in the Arctic Beaufort Sea, in this article, we present a tactical decision aid framework for a human decision-maker collaborating with an autonomous underwater vehicle (AUV) to integrate the vertical sound-speed profile for underwater navigation and communication. In a predeployment phase, using modeled and real oceanographic data, we load basis function representations of the sound-speed perturbations onto one or more AUVs on deck, where a handful of weights can estimate a sound-speed profile. During deployment, these weights are updated on an AUV through a digital acoustic message to improve navigation and reciprocal communication throughout the duration of an under-ice mission. Field work applying this framework in the Beaufort Sea is presented, highlighting key decisions regarding predeployment oceanographic data assimilation, CTD cast collection, and in situ weight choice. Selected examples evaluate the framework’s ability to adapt to a depth-limited CTD cast and the appearance of an anomalous microlens feature in the profile. We show that the framework effectively balances the need to adapt in a changing acoustic environment in real time while maintaining operator trust in an AUV’s embedded intelligence. Article in Journal/Newspaper Arctic Beaufort Sea DSpace@MIT (Massachusetts Institute of Technology) |
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Open Polar |
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language |
English |
topic |
Electrical and Electronic Engineering Mechanical Engineering Ocean Engineering |
spellingShingle |
Electrical and Electronic Engineering Mechanical Engineering Ocean Engineering Bhatt, EeShan C. Howard, Bradli Schmidt, Henrik An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation |
topic_facet |
Electrical and Electronic Engineering Mechanical Engineering Ocean Engineering |
description |
Motivated by a changing acoustic environment in the Arctic Beaufort Sea, in this article, we present a tactical decision aid framework for a human decision-maker collaborating with an autonomous underwater vehicle (AUV) to integrate the vertical sound-speed profile for underwater navigation and communication. In a predeployment phase, using modeled and real oceanographic data, we load basis function representations of the sound-speed perturbations onto one or more AUVs on deck, where a handful of weights can estimate a sound-speed profile. During deployment, these weights are updated on an AUV through a digital acoustic message to improve navigation and reciprocal communication throughout the duration of an under-ice mission. Field work applying this framework in the Beaufort Sea is presented, highlighting key decisions regarding predeployment oceanographic data assimilation, CTD cast collection, and in situ weight choice. Selected examples evaluate the framework’s ability to adapt to a depth-limited CTD cast and the appearance of an anomalous microlens feature in the profile. We show that the framework effectively balances the need to adapt in a changing acoustic environment in real time while maintaining operator trust in an AUV’s embedded intelligence. |
format |
Article in Journal/Newspaper |
author |
Bhatt, EeShan C. Howard, Bradli Schmidt, Henrik |
author_facet |
Bhatt, EeShan C. Howard, Bradli Schmidt, Henrik |
author_sort |
Bhatt, EeShan C. |
title |
An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation |
title_short |
An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation |
title_full |
An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation |
title_fullStr |
An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation |
title_full_unstemmed |
An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation |
title_sort |
embedded tactical decision aid framework for environmentally adaptive autonomous underwater vehicle communication and navigation |
publisher |
Institute of Electrical and Electronics Engineers |
publishDate |
2024 |
url |
https://hdl.handle.net/1721.1/154265 |
genre |
Arctic Beaufort Sea |
genre_facet |
Arctic Beaufort Sea |
op_source |
Institute of Electrical and Electronics Engineers |
op_relation |
10.1109/joe.2022.3159234 IEEE Journal of Oceanic Engineering 0364-9059 1558-1691 2373-7786 https://hdl.handle.net/1721.1/154265 Bhatt, EeShan C., Howard, Bradli and Schmidt, Henrik. 2022. "An Embedded Tactical Decision Aid Framework for Environmentally Adaptive Autonomous Underwater Vehicle Communication and Navigation." IEEE Journal of Oceanic Engineering, 47 (4). |
op_rights |
Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ |
_version_ |
1799475384749654016 |