19 research outputs found
Adaptive on-line planning of environmental sampling missions with a team of cooperating autonomous underwater vehicles
This contribution introduces two algorithms for adaptive on-line planning of oceanographic
missions to be performed in cooperation by a team of AUVs. The mission goal is defined in
terms of accuracy in the reconstruction of the environmental field to be sampled. Adaptive
cooperative behaviour is achieved by each vehicle in terms of locally evaluating the
smoothness of the sampled field, and selecting the next sampling point in order to achieve the
desired accuracy; smoothness evaluation and accuracy estimation have been proposed either
in terms of analytical formulation related to field estimation with RBFs, or in terms of
empirically derived fuzzy-like rules. Simulative results show that the vehicles team does behave
as expected, increasing the spatial sampling rate as an increase in the environmental variability
is detected. The number of samples required by both algorithms is sensibly inferior to those
needed by sampling the area at equally spaced locations, as in the case of off-line, nonadaptive
planners
Plasma essential free amino acid levels in giltheads supplied with three different diets.
ATTI XLIX CONVEGNO NAZIONALE SOCIETÀ ITALIANA SCIENZE VETERINARI