{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T12:37:40Z","timestamp":1780403860639,"version":"3.54.1"},"reference-count":26,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2021,2,11]],"date-time":"2021-02-11T00:00:00Z","timestamp":1613001600000},"content-version":"am","delay-in-days":366,"URL":"https:\/\/2.zoppoz.workers.dev:443\/http\/onlinelibrary.wiley.com\/termsAndConditions#am"},{"start":{"date-parts":[[2020,2,11]],"date-time":"2020-02-11T00:00:00Z","timestamp":1581379200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/http\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100000923","name":"Australian Research Council","doi-asserted-by":"publisher","award":["SR140300001"],"award-info":[{"award-number":["SR140300001"]}],"id":[{"id":"10.13039\/501100000923","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2020,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Mission planning for autonomous marine vehicles is nontrivial due to the dynamic and uncertain nature of the marine environment. Communication can be low\u2010bandwidth and is not always guaranteed, so the operator must rely on the vehicles to adjust their plans according to the realized state of the environment. This paper presents the improvements made to an energy\u2010aware mission planner that allows it to generate and adjust plans for an autonomous surface vehicle (ASV) operating in an uncertain environment. The energy\u2010aware mission planning problem was redefined as a stochastic programming problem, and a two\u2010stage solver was developed to provide an initial plan for the ASV and then adjust it during run\u2010time according to predefined recourse actions. The mission planner and ASV were trialed in Lake Waverley, Tasmania. Adjusting the recourse action criteria demonstrated that the ASV could exhibit conservative or opportunistic behaviors according to the operator's preference of safety margin. In the pursuit of extending the planner's second\u2010stage so that it can predict a suitable recourse action ahead of time, a hybrid long short\u2010term memory energy forecaster was trained from the Waverley mission data. Comparison of the error between the forecaster and the test data shows that the forecaster has a reliable forecast horizon of about 10\u2009s.<\/jats:p>","DOI":"10.1002\/rob.21942","type":"journal-article","created":{"date-parts":[[2020,2,12]],"date-time":"2020-02-12T04:36:03Z","timestamp":1581482163000},"page":"1040-1062","update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Field trials of an energy\u2010aware mission planner implemented on an autonomous surface vehicle"],"prefix":"10.1002","volume":"37","author":[{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-0639-9871","authenticated-orcid":false,"given":"Fletcher","family":"Thompson","sequence":"first","affiliation":[{"name":"Section for Oceans and Arctic Technical University of Denmark Lyngby Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-6047-7922","authenticated-orcid":false,"given":"Roberto","family":"Galeazzi","sequence":"additional","affiliation":[{"name":"Automation and Control Technical University of Denmark Lyngby Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0000-0002-5786-6599","authenticated-orcid":false,"given":"Damien","family":"Guihen","sequence":"additional","affiliation":[{"name":"National Centre for Maritime Engineering and Hydrodynamics University of Tasmania Newnham Tasmania Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2020,2,11]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2004.1265878"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1175\/JTECH-D-13-00138.1"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"e_1_2_10_5_1","unstructured":"Bureau of Meteorology. (2018).Launceston Tasmania November 2018 daily weather observations. Melbourne Australia: BoM.\u00a0Retrieved fromhttps:\/\/2.zoppoz.workers.dev:443\/http\/www.bom.gov.au\/climate\/dwo\/201811\/html\/IDCJDW7025.201811.shtml. Accessed on December 2018."},{"key":"e_1_2_10_6_1","volume-title":"Proceedings of the Robotics: Science and Systems Conference Workshop on New Frontiers for Deep Learning in Robotics (RSS)","author":"Caley J. A.","year":"2017"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/0377-2217(94)00289-4"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cor.2013.09.011"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9810-x"},{"key":"e_1_2_10_10_1","doi-asserted-by":"crossref","first-page":"232","DOI":"10.1002\/9781119994138","volume-title":"Handbook of marine craft hydrodynamics and motion control","author":"Fossen T.","year":"2011"},{"key":"e_1_2_10_11_1","doi-asserted-by":"crossref","first-page":"257","DOI":"10.1002\/9781119994138","volume-title":"Handbook of marine craft hydrodynamics and motion control","author":"Fossen T.","year":"2011"},{"key":"e_1_2_10_12_1","doi-asserted-by":"crossref","first-page":"398","DOI":"10.1002\/9781119994138","volume-title":"Handbook of marine craft hydrodynamics and motion control","author":"Fossen T.","year":"2011"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2016.2582924"},{"key":"e_1_2_10_14_1","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1145\/3019612.3019705","volume-title":"Proceedings of the Symposium on Applied Computing (SAC '17)","author":"Hamza A.","year":"2017"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21613"},{"key":"e_1_2_10_16_1","volume-title":"Proceedings of the ACM Conference (SIGKDD MiLeTS' 18)","author":"Laptev N.","year":"2018"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543343"},{"key":"e_1_2_10_18_1","volume-title":"Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS\u201013)","author":"Moore T.","year":"2014"},{"key":"e_1_2_10_19_1","doi-asserted-by":"crossref","unstructured":"Py F. Pinto J. Silva M. A. Johansen T. A. Sousa J. &Rajan K.(2016). EUROPtus: A mixed\u2010initiative controller for multi\u2010vehicle oceanographic field experiments. InInternational Symposium on Experimental Robotics(pp. 323\u2013340). Tokyo Japan: International Foundation of Robotics Research.","DOI":"10.1007\/978-3-319-50115-4_29"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21453"},{"key":"e_1_2_10_21_1","unstructured":"Shang K. Chan F. T. S. Karungaru S. Terada K. Feng Z. &Ke L.(2016).Two\u2010stage robust optimization for orienteering problem with stochastic weights. arXiv e\u2010prints arXiv:1701.00090."},{"key":"e_1_2_10_22_1","doi-asserted-by":"crossref","unstructured":"Sotzing C. C. Evans J. &Lane D. M.(2007). A multi\u2010agent architecture to increase coordination efficiency in multi\u2010AUV operations. InOCEANS 2007\u2014Europe(pp. 1\u20136). Aberdeen Scotland UK.","DOI":"10.1109\/OCEANSE.2007.4302393"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.103404"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1057\/jors.1984.162"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2794578"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.5120\/ijca2016910497"},{"key":"e_1_2_10_27_1","doi-asserted-by":"crossref","unstructured":"Zlot R. M.(2006).An auction\u2010based approach to complex task allocation for multirobot teams(Ph.D. Thesis). Carnegie Mellon University Pittsburgh PA.","DOI":"10.1142\/9789812772572_0022"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.21942","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.21942","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/rob.21942","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/am-pdf\/10.1002\/rob.21942","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.21942","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,9,5]],"date-time":"2023-09-05T06:14:28Z","timestamp":1693894468000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.21942"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,2,11]]},"references-count":26,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["10.1002\/rob.21942"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1002\/rob.21942","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"value":"1556-4959","type":"print"},{"value":"1556-4967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,2,11]]},"assertion":[{"value":"2019-02-22","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-02-02","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-02-11","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}