Where Do You Sample? - An Autonomous Underwater Vehicle Story Conference Paper

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. 2011 IEEE.

name of conference

• 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)

authors

• Saripalli, Srikanth

published proceedings

• 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE)

author list (cited authors)

• Ho, C., & Saripalli, S.

citation count

• 4

complete list of authors

• Ho, Colin||Saripalli, Srikanth

publication date

• September 2011

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• 7 Affordable And Clean Energy

Digital Object Identifier (DOI)

• 10.1109/rose.2011.6058512

start page

• 119

end page

• 124

URL

• http://dx.doi.org/10.1109/rose.2011.6058512

user-defined tag

• 7 Affordable and Clean Energy