Planning Observations by Unmanned Surface Vessels

Three algorithms, and software that implements the algorithms, have been conceived and analyzed as means of effecting automated planning of scientific observations by a fleet of unmanned surface vessels (USVs) equipped with sensors and operating over a large and possibly changing ocean area. Typical observations envisioned in the development of these algorithms include water-temperature measurements ahead of the path of a hurricane (see figure) and fluorometer readings to track harmful algal blooms.