用无人机实时追踪座头鲸并自主规划会合路径。
Real-time Remote Tracking and Autonomous Planning for Whale Rendezvous using Robots
- 基于强化学习融合声学数据与鲸鱼潜水模型导航
- 实现在多鲸干扰下实时追踪与远距信号处理
- 适合海洋生物监测与无人系统自主决策研究者
我们提出一种利用自主无人飞行器在海上实现座头鲸实时会合的系统。该系统采用基于模型的强化学习，结合现场传感器数据与经验性鲸鱼潜水模型，指导航行决策。主要挑战包括：（i）多头鲸存在下的实时声学追踪；（ii）机器人部署中的分布式通信与决策；（iii）机载信号处理与鱼踪探测器的长距离探测。通过在多米尼克海域开展鲸鱼会合实验、陆上硬件测试及基于海洋生物学家水面观测数据插值的鲸鱼轨迹仿真，对系统进行了评估。
原文摘要 · Abstract (English)
We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to guide navigation decisions. Key challenges include (i) real-time acoustic tracking in the presence of multiple whales, (ii) distributed communication and decision-making for robot deployments, and (iii) on-board signal processing and long-range detection from fish-trackers. We evaluate our system by conducting rendezvous with sperm whales at sea in Dominica, performing hardware experiments on land, and running simulations using whale trajectories interpolated from marine biologists' surface observations.
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