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@inproceedings{gildner2012, title = {Multi-Vehicle Autonomous Sampling of a Coastal Thermal and Effluent Jet and Plume}, booktitle = {2012 Oceans}, author = {Matthew Gildner and Gabriel Weymouth and Nicholas Patrikalakis}, pages = {1-9}, month = {October}, year = {2012}, keywords = {jets;oceanographic techniques;Mission Oriented Operations Suite;coastal effluent jet;coastal effluent plume;coastal environmental features;coastal thermal jet;coastal thermal plume;in-situ measurement;industrial jet;multisensor indicator function;multivehicle autonomous sampling;multivehicle transect sampling behavior;simulated annealing parameter estimation;Adaptation models;Parameter estimation;Sea measurements;Temperature measurement;Thermal pollution;Trajectory;Vehicles}, abstract = {Adaptive sampling algorithms and behavior-based approaches can aid in the rapid and accurate in-situ measurement and characterization of coastal environmental features such as industrial thermal effluent jets and plumes. To enable the development of these techniques we present a collection of simulation, estimation, and field tools for use within the Mission Oriented Operations Suite (MOOS). Key features include a multiparameter model of thermal effluent jets and plumes, simulated annealing parameter estimation, and a multi-sensor indicator function. Using these tools, an adaptive multi-vehicle transect sampling behavior is implemented to efficiently sample an industrial jet. The capabilities of this behavior are demonstrated in realistic mission simulations and in field trials using a fleet of autonomous surface vehicles.}}