CoExploration for Adaptive AUV Survey

Scientific seabed surveys often require the use of multiple sensing modalities with different capabilities and operational requirements. When using AUVs, this is often accomplished via a series of dives, between which operators examine collected data and plan the subsequent survey. Planning a follow-up survey while the vehicle is still in the water dramatically improves operational efficiency, but requires that topside scientists receive information from the initial survey during the dive. With this motivation, we developed a toolbox for CoExploration that is designed to acoustically transmit scientifically-actionable data, making use of any bandwidth that is not required for safe vehicle operation. This paper describes utilities for incrementally transmitting a multi-resolution multibeam map and for progressive transmission of camera imagery, along with field results from their first use on the NUI hybrid AUV/ROV.