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Data Correlation and Comparison from Multiple Sensors over a Coral Reef with a Team of Heterogeneous Aquatic Robots

Authors: Alberto {Quattrini Li}, Ioannis Rekleitis, Sandeep Manjanna, Nikhil Kakodkar, Johanna Hansen, Gregory Dudek, Leonardo Bobadilla, Jacob Anderson, Ryan N. Smith

Abstract: This paper presents experimental insights from the deployment of an ensemble of heterogeneous autonomous sensor systems over a shallow coral reef. Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef. Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.

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@inproceedings{QuattriniLiISERMulti2016, author = {Alberto {Quattrini Li} and Ioannis Rekleitis and Sandeep Manjanna and Nikhil Kakodkar and Johanna Hansen and Gregory Dudek and Leonardo Bobadilla and Jacob Anderson and Ryan N. Smith}, booktitle = {International Symposium of Experimental Robotics (ISER)}, title = {Data Correlation and Comparison from Multiple Sensors over a Coral Reef with a Team of Heterogeneous Aquatic Robots}, year = {2016}, volume = {}, number = {}, pages = {}, keywords = {}, doi = {} }