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Autonomous Robotic Sensing Experiments at San Joaquin River

  • Author(s): Amarjeet Singh
  • Maxim Batalin
  • Victor Chen
  • Michael Stealey
  • Brett Jordan
  • Jason Fisher
  • Thomas Harmon
  • Mark Hansen
  • William Kaiser
  • et al.
Abstract

Distributed, high-density spatiotemporal observations are proposed for answering many river-related questions, including those pertaining to hydraulics and multi-dimensional river modeling, geomorphology, sediment transport and riparian habitat restoration. We present here a case study of an autonomous, high-resolution robotic spatial mapping of cross-sectional velocity and salt concentration in a river basin. Several experiments for analyzing the spatial and temporal trends at multiple cross-sections of the San Joaquin River were performed during the campaign from August 21-25, 2006. Preliminary analysis from these experiments illustrating the range of investigations is presented. Lessons learned during the campaign are discussed to provide useful insights for similar robotic investigations in aquatic environments.

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