{"id":"https://openalex.org/W4283387285","doi":"https://doi.org/10.55417/fr.2022045","title":"Towards Automated Sample Collection and Return in Extreme Underwater Environments","display_name":"Towards Automated Sample Collection and Return in Extreme Underwater Environments","publication_year":2022,"publication_date":"2022-06-01","ids":{"openalex":"https://openalex.org/W4283387285","doi":"https://doi.org/10.55417/fr.2022045"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022045","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022045","pdf_url":"https://doi.org/10.55417/fr.2022045","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022045","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067393192","display_name":"Gideon Billings","orcid":"https://orcid.org/0000-0003-4850-8789"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gideon Billings","raw_affiliation_strings":["Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA"],"raw_orcid":"https://orcid.org/0000-0003-4850-8789","affiliations":[{"raw_affiliation_string":"Naval Architecture and Marine Engineering, University of Michigan, Ann Arbor, MI 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103153703","display_name":"Matthew R. Walter","orcid":"https://orcid.org/0000-0003-1425-6050"},"institutions":[{"id":"https://openalex.org/I160992636","display_name":"Toyota Technological Institute at Chicago","ror":"https://ror.org/02sn5gb64","country_code":"US","type":"education","lineage":["https://openalex.org/I160992636"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew R. Walter","raw_affiliation_strings":["Toyota Technological Institute at Chicago, Chicago, IL 60637, USA"],"raw_orcid":"https://orcid.org/0000-0003-1425-6050","affiliations":[{"raw_affiliation_string":"Toyota Technological Institute at Chicago, Chicago, IL 60637, USA","institution_ids":["https://openalex.org/I160992636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068908958","display_name":"Oscar Pizarro","orcid":"https://orcid.org/0000-0001-6612-2738"},"institutions":[{"id":"https://openalex.org/I129604602","display_name":"The University of Sydney","ror":"https://ror.org/0384j8v12","country_code":"AU","type":"education","lineage":["https://openalex.org/I129604602"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Oscar Pizarro","raw_affiliation_strings":["Australian Centre for Field Robotics, University of Sydney, NSW 2006, Australia"],"raw_orcid":"https://orcid.org/0000-0001-6612-2738","affiliations":[{"raw_affiliation_string":"Australian Centre for Field Robotics, University of Sydney, NSW 2006, Australia","institution_ids":["https://openalex.org/I129604602","https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["Carnegie Mellon University, Robotics Institute, 5000 Forbes Avenue, Pittsburgh, PA 15213"],"raw_orcid":"https://orcid.org/0000-0002-0506-907X","affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Robotics Institute, 5000 Forbes Avenue, Pittsburgh, PA 15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018823783","display_name":"Richard Camilli","orcid":"https://orcid.org/0000-0001-8049-4298"},"institutions":[{"id":"https://openalex.org/I66958751","display_name":"Woods Hole Oceanographic Institution","ror":"https://ror.org/03zbnzt98","country_code":"US","type":"funder","lineage":["https://openalex.org/I66958751"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Camilli","raw_affiliation_strings":["Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Deep Submergence Laboratory, Woods Hole, MA 02543, USA","Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Deep Submergence Labo-ratory, Woods Hole, MA 02543, USA"],"raw_orcid":"https://orcid.org/0000-0001-8049-4298","affiliations":[{"raw_affiliation_string":"Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Deep Submergence Laboratory, Woods Hole, MA 02543, USA","institution_ids":["https://openalex.org/I66958751"]},{"raw_affiliation_string":"Applied Ocean Physics and Engineering Woods Hole Oceanographic Institution Deep Submergence Labo-ratory, Woods Hole, MA 02543, USA","institution_ids":["https://openalex.org/I66958751"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3311,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.76873071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"1351","last_page":"1385"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9336000084877014,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9128000140190125,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.8177900314331055},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7756187319755554},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6156949996948242},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6109366416931152},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5507925748825073},{"id":"https://openalex.org/keywords/remotely-operated-vehicle","display_name":"Remotely operated vehicle","score":0.5022032260894775},{"id":"https://openalex.org/keywords/sea-trial","display_name":"Sea trial","score":0.49434638023376465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47279518842697144},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.41447341442108154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38384610414505005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37478625774383545},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.368366003036499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3020530343055725},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23117932677268982},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20727598667144775},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.19950151443481445},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.11500313878059387}],"concepts":[{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.8177900314331055},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7756187319755554},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6156949996948242},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6109366416931152},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5507925748825073},{"id":"https://openalex.org/C64228939","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated vehicle","level":2,"score":0.5022032260894775},{"id":"https://openalex.org/C19724227","wikidata":"https://www.wikidata.org/wiki/Q1988181","display_name":"Sea trial","level":2,"score":0.49434638023376465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47279518842697144},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.41447341442108154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38384610414505005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37478625774383545},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.368366003036499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3020530343055725},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23117932677268982},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20727598667144775},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.19950151443481445},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.11500313878059387},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.55417/fr.2022045","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022045","pdf_url":"https://doi.org/10.55417/fr.2022045","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:darchive.mblwhoilibrary.org:1912/29409","is_oa":true,"landing_page_url":"https://hdl.handle.net/1912/29409","pdf_url":null,"source":{"id":"https://openalex.org/S4306400781","display_name":"Open Access Server of the Woods Hole Scientific Community (Woods Hole Scientific Community)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.55417/fr.2022045","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022045","pdf_url":"https://doi.org/10.55417/fr.2022045","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G2964300351","display_name":"NRI: INT: COLLAB: Shared Autonomy for Unstructured Underwater Environments through Vision and Language","funder_award_id":"1830660","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4646401807","display_name":"OUR PROPOSAL SEEKS TO DEMONSTRATE NEW METHODS FOR EXPLORATION USING COORDINATED HETEROGENEOUS VEHICLE PLATFORMS. THESE METHODS RELY ON REAL-TIME AUTO","funder_award_id":"NNX16AL08G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G8951895674","display_name":"NRI: INT: COLLAB: Shared Autonomy for Unstructured Underwater Environments through Vision and Language","funder_award_id":"1830500","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320316566","display_name":"Schmidt Ocean Institute","ror":"https://ror.org/02bkxyz57"},{"id":"https://openalex.org/F4320322007","display_name":"Ministry of Environment","ror":"https://ror.org/04xmt0833"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4283387285.pdf","grobid_xml":"https://content.openalex.org/works/W4283387285.grobid-xml"},"referenced_works_count":75,"referenced_works":["https://openalex.org/W1480782870","https://openalex.org/W1481356306","https://openalex.org/W1492760962","https://openalex.org/W1518169716","https://openalex.org/W1547531608","https://openalex.org/W1577451703","https://openalex.org/W1630567614","https://openalex.org/W1630678085","https://openalex.org/W1727070462","https://openalex.org/W1954857006","https://openalex.org/W1966476375","https://openalex.org/W1968315983","https://openalex.org/W1968524963","https://openalex.org/W1970745880","https://openalex.org/W1971086298","https://openalex.org/W1975566370","https://openalex.org/W1978371906","https://openalex.org/W1993393285","https://openalex.org/W2002991531","https://openalex.org/W2007820193","https://openalex.org/W2013648551","https://openalex.org/W2037372977","https://openalex.org/W2042903360","https://openalex.org/W2048896968","https://openalex.org/W2067926386","https://openalex.org/W2091584714","https://openalex.org/W2100893637","https://openalex.org/W2100908699","https://openalex.org/W2108682435","https://openalex.org/W2109077083","https://openalex.org/W2110443529","https://openalex.org/W2116379147","https://openalex.org/W2117297660","https://openalex.org/W2121036162","https://openalex.org/W2121915569","https://openalex.org/W2125188427","https://openalex.org/W2136731888","https://openalex.org/W2150382645","https://openalex.org/W2170647362","https://openalex.org/W2182229738","https://openalex.org/W2202045407","https://openalex.org/W2244158810","https://openalex.org/W2320950904","https://openalex.org/W2329704439","https://openalex.org/W2607515124","https://openalex.org/W2752368885","https://openalex.org/W2793078863","https://openalex.org/W2796152842","https://openalex.org/W2807729139","https://openalex.org/W2811462648","https://openalex.org/W2896815268","https://openalex.org/W2904903320","https://openalex.org/W2912786386","https://openalex.org/W2951553658","https://openalex.org/W3007434893","https://openalex.org/W3025711542","https://openalex.org/W3102636071","https://openalex.org/W3110909889","https://openalex.org/W3121841325","https://openalex.org/W3163760217","https://openalex.org/W3210002420","https://openalex.org/W4235136415","https://openalex.org/W4254510367","https://openalex.org/W4288100565","https://openalex.org/W6642332294","https://openalex.org/W6644253373","https://openalex.org/W6650144174","https://openalex.org/W6662517453","https://openalex.org/W6680479472","https://openalex.org/W6685664056","https://openalex.org/W6751975970","https://openalex.org/W6752367198","https://openalex.org/W6785482727","https://openalex.org/W6803503272","https://openalex.org/W6998414486"],"related_works":["https://openalex.org/W2004212115","https://openalex.org/W1577440474","https://openalex.org/W2068790548","https://openalex.org/W2153538040","https://openalex.org/W2114642502","https://openalex.org/W1993142044","https://openalex.org/W2905324538","https://openalex.org/W2099932133","https://openalex.org/W2060888642","https://openalex.org/W2909577934"],"abstract_inverted_index":{"In":[0,71],"this":[1],"report,":[2],"we":[3,202],"present":[4],"the":[5,26,34,55,69,72,105,109,150,163,166,180,190,200,204],"system":[6,144,168,208],"design,":[7],"operational":[8],"strategy,":[9],"and":[10,33,108,169,183,209],"results":[11],"of":[12,17,30,57,74,95,149,165,185,206],"coordinated":[13],"multivehicle":[14],"field":[15,99,173],"demonstrations":[16],"autonomous":[18],"marine":[19],"robotic":[20],"technologies":[21],"in":[22,47,157,175,199],"searchfor-life":[23],"missions":[24,78],"within":[25,189],"Pacific":[27],"shelf":[28],"margin":[29],"Costa":[31],"Rica":[32],"Santorini-Kolumbo":[35],"caldera":[36],"complex,":[37],"which":[38,91],"serve":[39],"as":[40],"analogs":[41],"to":[42,79,87,152],"environments":[43],"that":[44,137],"may":[45],"exist":[46],"oceans":[48],"beyond":[49],"Earth.":[50],"This":[51],"report":[52],"focuses":[53],"on":[54,196],"automation":[56],"remotely":[58],"operated":[59],"vehicle":[60],"(ROV)":[61],"manipulator":[62,154],"operations":[63],"for":[64,116,213],"targeted":[65],"biological":[66,186],"sample-collection-and-return":[67],"from":[68,188],"seafloor.":[70],"context":[73],"future":[75,214],"extraterrestrial":[76],"exploration":[77],"ocean":[80],"worlds,":[81],"an":[82,85,131],"ROV":[83,107,115],"is":[84],"analog":[86],"a":[88,146],"planetary":[89],"lander,":[90],"must":[92],"be":[93],"capable":[94],"high-level":[96,139],"autonomy.":[97],"Our":[98],"trials":[100,174],"involve":[101],"two":[102],"underwater":[103],"vehicles,":[104],"SuBastian":[106],"Nereid":[110],"Under":[111],"Ice":[112],"(NUI)":[113],"hybrid":[114],"mixed":[117],"initiative":[118],"(i.e.,":[119],"teleoperated":[120],"or":[121],"autonomous)":[122],"missions,":[123],"both":[124],"equipped":[125],"seven-degrees-of-freedom":[126],"hydraulic":[127],"manipulators.":[128],"We":[129,161],"describe":[130],"adaptable,":[132],"hardware-independent":[133],"computer":[134],"vision":[135,143,167],"architecture":[136],"enables":[138],"automated":[140,181],"manipulation.":[141],"The":[142],"provides":[145],"three-dimensional":[147],"understanding":[148],"workspace":[151],"inform":[153],"motion":[155],"planning":[156],"complex":[158],"unstructured":[159],"environments.":[160],"demonstrate":[162],"effectiveness":[164],"control":[170],"framework":[171],"through":[172],"increasingly":[176],"challenging":[177],"environments,":[178],"including":[179],"collection":[182],"return":[184],"samples":[187],"active":[191],"undersea":[192],"volcano":[193],"Kolumbo.":[194],"Based":[195],"our":[197,207],"experiences":[198],"field,":[201],"discuss":[203],"performance":[205],"identify":[210],"promising":[211],"directions":[212],"research.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
