We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent developments real-time planning for environmental mapping, and to demonstrate their utility in a challenging practical example. We model the bathymetry within the operational area using a Gaussian process and propose a reward function that represents the task of mapping a desired isobath. As is common in applications where plans must be continually updated based on real-time sensor measurements, we adopt a receding horizon framework where the vehicle continually computes near-optimal paths. The sequence of paths does not, in general, inherit the optimality properties of each individual path. Our real-time planning implementation incorporates recent results that lead to performance guarantees for receding-horizon planning.

翻译：我们展示了使用小型自主水下潜水器进行实验的结果,以确定同位素在封闭区内的位置。这项工作的主要贡献是实施和整合最近几项环境测绘实时规划的最新动态,并在一个富有挑战性的实际实例中展示其效用。我们用高斯进程在操作区内模拟测深,并提议一个奖励功能,以代表绘制理想的等深线的任务。在应用中,计划必须不断根据实时传感器测量而更新,我们采用一个放弃地平线框架,使飞行器不断计算近最佳路径。一般而言,路径的顺序并不继承每个路径的最佳性。我们的实时规划实施包括最近的结果,这些结果可以保证向递减轨道规划提供业绩保障。