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Obtaining synoptic observations of dynamic ocean phenomena such as fronts, eddies, oxygen minimum zones and blooms has been challenging primarily due to the large spatial scales involved. Traditional methods of observation with manned ships are expensive and, unless the vessel can survey at high-speed, unrealistic. Autonomous underwater vehicles (AUVs) are robotic platforms that have been making steady...
This paper describes the open-source software toolchain developed by the Underwater Systems and Technology Laboratory (LSTS) for supporting networked heterogeneous air and ocean vehicle systems. The toolchain supports the deployment of air and ocean vehicles interacting over limited acoustic and wireless networks combined with disruption-tolerant networking protocols. We present the different components...
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