Multiscale adaptive sampling in environmental robotics

摘要

Observation of spatially distributed oceanographic phenomena using sensor-enabled AUVs involves a trade-off between coverage and resolution. In this paper the performance of adaptive variation sensitive sample distributions in such a sensing task is evaluated under mission constraints such as finite measurement time and finite vehicle speed and compared to uniform sampling. The relative performance of the four algorithms considered is characterized in terms of localization of features in the test functions.