Robotic simulation of dynamic plume tracking by Unmanned Surface Vessels

  title={Robotic simulation of dynamic plume tracking by Unmanned Surface Vessels},
  author={Muhammad Fahad and Nathaniel Saul and Yi Guo and Brian Bingham},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
Using autonomous mobile robots to dynamically track oil plume propagation in ocean environments is challenging. Based on a model of advection-diffusion equation that describes point-source pollution propagation in marine environments, we have previously proposed a model-based estimator-controller design for autonomous robots to dynamically track plume front propagation. In this paper we study the robustness of the controller in a robot simulator, and evaluate it's performance in a realistic… 

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