Where do you sample? - An autonomous underwater vehicle story

Colin Ho; Srikanth Saripalli

doi:10.1109/ROSE.2011.6058512

Where do you sample? - An autonomous underwater vehicle story

Colin Ho, Srikanth Saripalli

Earth and Space Exploration, School of (SESE)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

We present an experimental evaluation of various sampling path strategies for an Autonomous Underwater Vehicle. Both systematic and stratified random sampling path strategies were evaluated based upon their estimation accuracy for isotropic and anisotropic scalar fields, as well as the relative energy consumption. We present results from several experimental trials that shows that the stratified random sampling strategy minimizes estimation error for denser sample distributions, and the systematic sampling strategy minimizes estimation error for sparser sample distributions. Finally, we experimentally show that the systematic spiral path sampling strategy is the most energy efficient.

Original language	English (US)
Title of host publication	ROSE 2011 - IEEE International Symposium on Robotic and Sensors Environments, Proceedings
Pages	119-124
Number of pages	6
DOIs	https://doi.org/10.1109/ROSE.2011.6058512
State	Published - 2011
Event	2011 9th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2011 - Montreal, QC, Canada Duration: Sep 17 2011 → Sep 18 2011

Other

Other	2011 9th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2011
Country/Territory	Canada
City	Montreal, QC
Period	9/17/11 → 9/18/11

Keywords

AUV
kriging
Sampling

ASJC Scopus subject areas

Human-Computer Interaction
Electrical and Electronic Engineering

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10.1109/ROSE.2011.6058512

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title = "Where do you sample? - An autonomous underwater vehicle story",

abstract = "We present an experimental evaluation of various sampling path strategies for an Autonomous Underwater Vehicle. Both systematic and stratified random sampling path strategies were evaluated based upon their estimation accuracy for isotropic and anisotropic scalar fields, as well as the relative energy consumption. We present results from several experimental trials that shows that the stratified random sampling strategy minimizes estimation error for denser sample distributions, and the systematic sampling strategy minimizes estimation error for sparser sample distributions. Finally, we experimentally show that the systematic spiral path sampling strategy is the most energy efficient.",

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author = "Colin Ho and Srikanth Saripalli",

year = "2011",

doi = "10.1109/ROSE.2011.6058512",

language = "English (US)",

pages = "119--124",

booktitle = "ROSE 2011 - IEEE International Symposium on Robotic and Sensors Environments, Proceedings",

note = "2011 9th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2011 ; Conference date: 17-09-2011 Through 18-09-2011",

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T1 - Where do you sample? - An autonomous underwater vehicle story

AU - Ho, Colin

AU - Saripalli, Srikanth

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AB - We present an experimental evaluation of various sampling path strategies for an Autonomous Underwater Vehicle. Both systematic and stratified random sampling path strategies were evaluated based upon their estimation accuracy for isotropic and anisotropic scalar fields, as well as the relative energy consumption. We present results from several experimental trials that shows that the stratified random sampling strategy minimizes estimation error for denser sample distributions, and the systematic sampling strategy minimizes estimation error for sparser sample distributions. Finally, we experimentally show that the systematic spiral path sampling strategy is the most energy efficient.

KW - AUV

KW - kriging

KW - Sampling

UR - http://www.scopus.com/inward/record.url?scp=81055139450&partnerID=8YFLogxK

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DO - 10.1109/ROSE.2011.6058512

M3 - Conference contribution

AN - SCOPUS:81055139450

SP - 119

EP - 124

BT - ROSE 2011 - IEEE International Symposium on Robotic and Sensors Environments, Proceedings

T2 - 2011 9th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2011

Y2 - 17 September 2011 through 18 September 2011

ER -

Where do you sample? - An autonomous underwater vehicle story

Abstract

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Keywords

ASJC Scopus subject areas

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