{"id":"https://openalex.org/W2059880203","doi":"https://doi.org/10.1109/icra.2013.6631377","title":"Hierarchical probabilistic regression for AUV-based adaptive sampling of marine phenomena","display_name":"Hierarchical probabilistic regression for AUV-based adaptive sampling of marine phenomena","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2059880203","doi":"https://doi.org/10.1109/icra.2013.6631377","mag":"2059880203"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102922754","display_name":"Jnaneshwar Das","orcid":"https://orcid.org/0000-0002-6844-421X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jnaneshwar Das","raw_affiliation_strings":["Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, USA","Department of Computer Science University of Southern California Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]},{"raw_affiliation_string":"Department of Computer Science University of Southern California Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112237027","display_name":"Julio B.J. Harvey","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julio Harvey","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031499390","display_name":"Fr\u00e9d\u00e9ric Py","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frederic Py","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066566602","display_name":"Harshvardhan Vathsangam","orcid":"https://orcid.org/0000-0001-8178-5580"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harshvardhan Vathsangam","raw_affiliation_strings":["Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, USA","Department of Computer Science University of Southern California Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]},{"raw_affiliation_string":"Department of Computer Science University of Southern California Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111877506","display_name":"Rishi Graham","orcid":null},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rishi Graham","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085025317","display_name":"Kanna Rajan","orcid":"https://orcid.org/0000-0001-7146-1662"},"institutions":[{"id":"https://openalex.org/I1319261023","display_name":"Monterey Bay Aquarium Research Institute","ror":"https://ror.org/02nb3aq72","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1319261023"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kanna Rajan","raw_affiliation_strings":["Monterey Bay Aquarium Research Institute, CA, USA","[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monterey Bay Aquarium Research Institute, CA, USA","institution_ids":["https://openalex.org/I1319261023"]},{"raw_affiliation_string":"[Monterey Bay Aquarium Research Institute, Moss Landing, CA, USA]","institution_ids":["https://openalex.org/I1319261023"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav S. Sukhatme","raw_affiliation_strings":["Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, USA","Department of Computer Science University of Southern California Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I4210145666","https://openalex.org/I1174212"]},{"raw_affiliation_string":"Department of Computer Science University of Southern California Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5571","last_page":"5578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.7237573862075806},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6277093887329102},{"id":"https://openalex.org/keywords/organism","display_name":"Organism","score":0.6028475165367126},{"id":"https://openalex.org/keywords/abundance","display_name":"Abundance (ecology)","score":0.5864564776420593},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5720829367637634},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.49569904804229736},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.47545644640922546},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.47351837158203125},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.45889970660209656},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.4415965676307678},{"id":"https://openalex.org/keywords/adaptive-sampling","display_name":"Adaptive sampling","score":0.42818135023117065},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.37122899293899536},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33210986852645874},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.321224570274353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30124157667160034},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.2754668593406677},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.24110302329063416},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.1763746738433838},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12397190928459167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11141601204872131},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.08887115120887756}],"concepts":[{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.7237573862075806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6277093887329102},{"id":"https://openalex.org/C137858568","wikidata":"https://www.wikidata.org/wiki/Q7239","display_name":"Organism","level":2,"score":0.6028475165367126},{"id":"https://openalex.org/C77077793","wikidata":"https://www.wikidata.org/wiki/Q336019","display_name":"Abundance (ecology)","level":2,"score":0.5864564776420593},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5720829367637634},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.49569904804229736},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.47545644640922546},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.47351837158203125},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.45889970660209656},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.4415965676307678},{"id":"https://openalex.org/C2781395549","wikidata":"https://www.wikidata.org/wiki/Q4680762","display_name":"Adaptive sampling","level":3,"score":0.42818135023117065},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.37122899293899536},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33210986852645874},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.321224570274353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30124157667160034},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.2754668593406677},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.24110302329063416},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.1763746738433838},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12397190928459167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11141601204872131},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.08887115120887756},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2013.6631377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.310.4424","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.310.4424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.usc.edu/publications/media/uploads/pubs/779.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.396.4360","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.396.4360","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robotics.usc.edu/publications/media/uploads/pubs/icra-2012_1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8799999952316284}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332181","display_name":"National Oceanic and Atmospheric Administration","ror":"https://ror.org/02z5nhe81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W579934433","https://openalex.org/W1623222641","https://openalex.org/W1746819321","https://openalex.org/W1979759959","https://openalex.org/W2020587763","https://openalex.org/W2020934227","https://openalex.org/W2021774297","https://openalex.org/W2066291790","https://openalex.org/W2086571087","https://openalex.org/W2104533781","https://openalex.org/W2105945651","https://openalex.org/W2107010145","https://openalex.org/W2107386393","https://openalex.org/W2130902106","https://openalex.org/W2152114746","https://openalex.org/W2155659011","https://openalex.org/W4211049957","https://openalex.org/W6655473528","https://openalex.org/W6675740164","https://openalex.org/W6675823452"],"related_works":["https://openalex.org/W4220873401","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4293503520","https://openalex.org/W3127570262","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W1995200351","https://openalex.org/W2803685231","https://openalex.org/W3134152097"],"abstract_inverted_index":{"Marine":[0],"phenomena":[1],"such":[2],"as":[3],"algal":[4],"blooms":[5],"can":[6],"be":[7],"detected":[8],"using":[9],"in":[10,91,105,131,137,169,175],"situ":[11,138],"measurements":[12],"onboard":[13],"autonomous":[14],"underwater":[15],"vehicles":[16],"(AUVs),":[17],"but":[18],"understanding":[19,49],"plankton":[20],"ecology":[21],"and":[22,27,58,67,80,160,222],"community":[23],"structure":[24],"requires":[25,34],"retrieval":[26,96],"analysis":[28,44],"of":[29,50,97,117,129,162,198,211],"water":[30,98,183,219],"specimens.":[31],"This":[32],"process":[33,144],"shipboard":[35],"or":[36],"manual":[37],"sample":[38,220],"collection,":[39],"followed":[40],"by":[41],"onshore":[42],"lab":[43],"which":[45],"is":[46,173],"time-consuming.":[47],"Better":[48],"the":[51,54,132,148,153,158,163,187,196,204],"relationship":[52],"between":[53],"observable":[55],"environmental":[56,118],"features":[57,119],"organism":[59,110,164,170,188,212],"abundance":[60,111,165,171,189,213],"would":[61],"allow":[62],"more":[63],"precisely":[64],"targeted":[65],"sampling":[66,177],"thereby":[68],"save":[69],"time.":[70],"In":[71],"this":[72,85,100],"work,":[73],"we":[74,208],"present":[75],"an":[76],"approach":[77],"to":[78,125,151,179],"learn":[79],"improve":[81],"models":[82,112,116,215],"that":[83,185],"predict":[84],"relationship.":[86],"Coupled":[87],"with":[88,114,147],"recent":[89],"advances":[90],"AUV":[92,123,139,223],"technology":[93],"allowing":[94],"selective":[95],"samples,":[99],"constitutes":[101],"a":[102,176],"new":[103,182],"paradigm":[104],"biological":[106],"sampling.":[107],"We":[108,141],"use":[109,142],"along":[113,146],"spatial":[115,127],"learned":[120,216],"immediately":[121],"after":[122],"deployments":[124],"compute":[126],"distributions":[128],"organisms":[130],"coastal":[133],"ocean":[134],"purely":[135],"from":[136,214],"data.":[140,225],"Gaussian":[143],"regression":[145],"unscented":[149],"transform":[150],"fuse":[152],"two":[154],"models,":[155],"obtaining":[156],"both":[157],"mean":[159],"variance":[161],"estimates.":[166],"The":[167],"uncertainty":[168],"predictions":[172,210],"used":[174],"strategy":[178],"selectively":[180],"acquire":[181],"specimens":[184],"improves":[186],"models.":[190],"Simulation":[191],"results":[192],"are":[193],"presented":[194],"demonstrating":[195],"advantage":[197],"performing":[199],"hierarchical":[200],"probabilistic":[201],"regression.":[202],"After":[203],"validation":[205],"through":[206],"simulation,":[207],"show":[209],"on":[217],"lab-analyzed":[218],"data,":[221],"survey":[224]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}