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Marine vehicles have been used for various scientific missions whereinformation over features of interest is collected. In order to maximiseefficiency in collecting information over a large search space, we should beable to deploy a large number of autonomous vehicles that make a decision basedon the latest understanding of the target feature in the environment. In ourprevious work, we have presented a hierarchical framework for the multi-vesselmulti-float (MVMF) problem where surface vessels drop and pick up underactuatedfloats in a time-minimal way. In this paper, we present the field trial resultsusing the framework with a number of drifters and floats. We discovered anumber of important aspects that need to be considered in the proposedframework, and present the potential approaches to address the challenges.

Field trial on Ocean Estimation for Multi-Vessel Multi-Float-based Active perception