乐胖代购免代理版

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Given a target depth and a bounding polygon, the ASV will find and follow the intersection of the bounding polygon and the depth contour as modeled online with a Gaussian process (GP). This intersection, once mapped, will then be used as a boundary within which a path will be planned for coverage to build a map of the bathymetry. Efficient methods are implemented enabling online fitting, prediction and hyperparameter optimization within the GP framework on a small embedded PC. New algorithms are introduced for the partitioning of convex polygons to allow efficient path planning for coverage. These algorithms are tested both in simulation and in the field with a small twin hull differential thrust vessel built for the task.<\/jats:p>","DOI":"10.1002\/rob.21718","type":"journal-article","created":{"date-parts":[[2017,5,24]],"date-time":"2017-05-24T01:10:31Z","timestamp":1495588231000},"page":"345-358","source":"Crossref","is-referenced-by-count":20,"title":["Adaptive path planning for depth\u2010constrained bathymetric mapping with an autonomous surface vessel"],"prefix":"10.1002","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7100-6299","authenticated-orcid":false,"given":"Troy","family":"Wilson","sequence":"first","affiliation":[{"name":"Australian Centre for Field Robotics The University of Sydney Sydney Australia"}]},{"given":"Stefan B.","family":"Williams","sequence":"additional","affiliation":[{"name":"Australian Centre for Field Robotics The University of Sydney Sydney Australia"}]}],"member":"311","published-online":{"date-parts":[[2017,5,23]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TGRS.2008.916474"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21421"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1029\/2006GL027734"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20324"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.09.004"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s004539910010"},{"key":"e_1_2_10_8_1","first-page":"124","volume-title":"Robot Motion Planning","author":"Latombe J\u2010C","year":"2012"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20300"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-1273-0_32"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1177\/027836402320556359"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.973337"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543344"},{"key":"e_1_2_10_14_1","first-page":"235","article-title":"Near\u2010optimal sensor placements in Gaussian processes: Theory, efficient algorithms and empirical studies","volume":"9","author":"Krause A","year":"2008","journal-title":"J Mach Learn Res"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1162\/089976605774320557"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1163\/016918609X12529286896877"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_54"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907452"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385653"},{"volume-title":"International Joint Conference on Artificial Intelligence (IJCAI)","year":"2013","author":"Gotovos A","key":"e_1_2_10_20_1"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979966"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181771"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2008.5152091"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/SysCon.2013.6549924"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20364"},{"key":"e_1_2_10_26_1","first-page":"2","volume-title":"Australasian Conference on Robotics and Automation (ACRA)","author":"Dunbabin M","year":"2009"},{"key":"e_1_2_10_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2000.881292"},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSE.2007.4302467"},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2000.881293"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2011.11.001"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.23919\/OCEANS.2009.5422129"},{"key":"e_1_2_10_32_1","unstructured":"Saildrone.Saildrone.http:\/\/www.saildrone.com. 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