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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.}}