Environmental monitoring using autonomous aquatic robots: Sampling algorithms and experiments

Mahdi Jadaliha, Jongeun Choi

Research output: Contribution to journalArticlepeer-review

49 Citations (Scopus)


This brief presents a practical solution to the problem of monitoring an environmental process in a large region by a small number of robotic sensors. Optimal sampling strategies are developed, taking into account the quality of the estimated environmental field and the lifetime of the sensors. We also present experimental results for monitoring a temperature field of an outdoor swimming pool sampled by an autonomous aquatic surface robot. Simulation and experimental results are provided to validate the proposed scheme.

Original languageEnglish
Article number6172657
Pages (from-to)899-905
Number of pages7
JournalIEEE Transactions on Control Systems Technology
Issue number3
Publication statusPublished - 2013

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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