用浏览器即可测试海洋滑翔机路径规划算法，实现可复现的四维仿真。
A Browser-Native Digital Test Range for Benchmarking 4D Ocean-Glider Planning Algorithms
- 基于浏览器的数字试验场，支持从区域选择到任务评估全流程仿真。
- 5种经典算法在54次任务中均完成且无硬性违规，揭示了策略与科学目标的权衡。
- 适合海洋机器人、环境监测研究者用于算法预演和性能对比。
重复进行海洋滑翔机路径规划器的实地评估需要稀缺的设备、操作人员、部署与回收资源，且海洋条件无法重置以对比不同算法。本文提出一种无需安装、引导式运行的浏览器原生数字试验场，将选定区域转化为可复现的四维实验环境。系统支持从区域选择、任务范围内的地形数据、时空/深度扰动、科学目标设定、任务分解（可选）、航线指定、洋流漂移执行、观测生成到评分的全流程。其核心贡献是建立统一的「规划-观测契约」，整合人工路线、透明内置算法及导入的经典或学习型规划器输出，确保车辆、感知与评估假设一致；导出成果可直接形成数据集记录。通过受控的观测系统模拟实验（OSSE），在两个时段、三个确定性种子、60小时校准时间窗下评估了五种经典规划器。全部54次任务成功完成并回收，未出现硬性违规，规划器排名及潜水策略影响揭示了操作-科学之间的权衡。一次真实公开部署提供了实地验证，界定当前运动学边界。此外，源码锁定的GliderFlight 1.2.0通过Pyodide/WebAssembly实现本地到浏览器的等效性，为高保真多层级仿真提供路径。最终形成的可操作空间具备科学可追溯性和组件可验证性，适用于任务级前置实验。
原文摘要 · Abstract (English)
Repeated in-situ evaluation of ocean-glider planners requires scarce vehicles, operators, deployment and recovery resources, and ocean conditions that cannot be reset for competing algorithms. We present a guided, installation-free browser-native digital test range that transforms a selected region into a reproducible four-dimensional experiment. The system leads users from regional domain selection through mission-scoped bathymetry, time/depth forcing, science objectives, optional task decomposition, route specification, current-advected execution, observation generation, and scoring. Its primary contribution is a common plan-to-observation contract unifying vehicle, sensing, and evaluator assumptions across manual routes, transparent built-in algorithms, and imported classical or learned-planner outputs, while exported artifacts form dataset-ready records. A controlled Observing System Simulation Experiment (OSSE) evaluates five classical planners in two episodes, three deterministic seeds, and a calibrated 60-hour horizon. All 54 missions completed and recovered without hard violations, while planner rankings and dive-policy effects revealed operational-scientific tradeoffs. An authentic public deployment supplied a field-referenced audit to scope current kinematic boundaries. Separately, source-locked GliderFlight 1.2.0 achieved native-to-browser parity through Pyodide/WebAssembly, establishing a pathway for high-fidelity multi-tier simulation. The resulting operational space is scientifically traceable and component-qualified for mission-scale pre-deployment experimentation.
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