Persistent robot tasking for environmental monitoring through crowd-sourcing

Wesam Al-Sabban, Jnaneshwar Das, Ryan N. Smith

Research output: Contribution to conferencePaperpeer-review

2 Scopus citations


Persistent monitoring of the ocean is not optimally accomplished by repeatedly executing a fixed path in a fixed location. The ocean is dynamic, and so should the executed paths to monitor and observe it. An open question merging autonomy and optimal sampling is how and when to alter a path/decision, yet achieve desired science objectives. Additionally, many marine robotic deployments can last multiple weeks to months; making it very difficult for individuals to continuously monitor and retask them as needed. This problem becomes increasingly more complex when multiple platforms are operating simultaneously. There is a need for monitoring and adaptation of the robotic fleet via teams of scientists working in shifts; crowds are ideal for this task. In this paper, we present a novel application of crowd-sourcing to extend the autonomy of persistent-monitoring vehicles to enable non-repetitious sampling over long periods of time. We present a framework that enables the control of a marine robot by anybody with an internet-enabled device. Voters are provided current vehicle location, gathered science data and predicted ocean features through the associated decision support system. Results are included from a simulated implementation of our system on a Wave Glider operating in Monterey Bay with the science objective to maximize the sum of observed nitrate values collected.

Original languageEnglish (US)
StatePublished - 2013
Externally publishedYes
EventOCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common - San Diego, CA, United States
Duration: Sep 23 2013Sep 26 2013


OtherOCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
Country/TerritoryUnited States
CitySan Diego, CA

ASJC Scopus subject areas

  • Ocean Engineering


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