Clarity-Driven Adaptive Mission Planning for a Solar-Powered Autonomous Surface Vessel
This methodology develops an adaptive mission planning strategy for solar-powered autonomous surface vessels (ASVs) to maximize scientific information gathering. It uses a 'clarity' metric, linked to information entropy, to guide the ASV online. The system dynamically adjusts measurement priorities based on in-situ data and propulsion constraints, successfully directing the vessel toward scientifically relevant conditions.