@article {Medagoda2016,
	title = {{Mid-water current aided localization for autonomous underwater vehicles}},
	journal = {Autonomous Robots},
	volume = {40},
	number = {7, SI},
	year = {2016},
	pages = {1207{\textendash}1227},
	abstract = {Survey-class autonomous underwater vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid-water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Current Profiler mode of the DVL during descent, along with data from other sensors, the method discussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Mapping (SLAM) and on descents up to 3km deep with the Sentry AUV.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1007/s10514-016-9547-3},
	author = {Medagoda, L and Williams, S B and Pizarro, O and Kinsey, J C and Jakuba, M V}
}
@article {Kinsey2011,
	title = {{Assessing the Deepwater Horizon oil spill with the Sentry autonomous underwater vehicle}},
	journal = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2011},
	pages = {261{\textendash}267},
	abstract = {This paper reports the Sentry autonomous underwater vehicle and its deployment on two cruises in response to the Deepwater Horizon oil spill. The first cruise, in June 2010, coupled Sentry with the TETHYS mass spectrometer to track and localize a subsea hydrocarbon plume at a depth of approximately 1100m going at least 30km from the oil spill site. In December 2010, Sentry mapped and photographed deep-sea biological communities for follow-up observations and sampling with the Alvin manned submersible. These cruises demonstrate how robots and novel sensing technologies contributed to the oil spill assessment and the broader impact of technologies developed for basic research.},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1109/IROS.2011.6095008},
	author = {Kinsey, J C and Yoerger, D R and Jakuba, M V and Camilli, Rich and Fisher, C R and German, C R}
}
@article {German2010,
	title = {{Diverse styles of submarine venting on the ultraslow spreading Mid-Cayman Rise}},
	journal = {Proceedings of the National Academy of Sciences of the United States of America},
	volume = {107},
	number = {32},
	year = {2010},
	month = {aug},
	pages = {14020{\textendash}14025},
	abstract = {Thirty years after the first discovery of high-temperature submarine venting, the vast majority of the global mid-ocean ridge remains unexplored for hydrothermal activity. Of particular interest are the world{\textquoteright}s ultraslow spreading ridges that were the last to be demonstrated to host high-temperature venting but may host systems particularly relevant to prebiotic chemistry and the origins of life. Here we report evidence for previously unknown, diverse, and very deep hydrothermal vents along the similar to 110 km long, ultraslow spreading Mid-Cayman Rise (MCR). Our data indicate that the MCR hosts at least three discrete hydrothermal sites, each representing a different type of water-rock interaction, including both mafic and ultramafic systems and, at similar to 5,000 m, the deepest known hydrothermal vent. Although submarine hydrothermal circulation, in which seawater percolates through and reacts with host lithologies, occurs on all mid-ocean ridges, the diversity of vent types identified here and their relative geographic isolation make the MCR unique in the oceans. These new sites offer prospects for an expanded range of vent-fluid compositions, varieties of abiotic organic chemical synthesis and extremophile microorganisms, and unparalleled faunal biodiversity-all in close proximity.},
	keywords = {HOV Alvin (Human Occupied Vehicle)},
	issn = {0027-8424},
	doi = {10.1073/pnas.1009205107},
	author = {German, C R and Bowen, A and Coleman, M L and Honig, D L and Huber, J A and Jakuba, M V and Kinsey, J C and Kurz, M D and Leroy, S and McDermott, J M and de Lepinay, B M and Nakamura, K and Seewald, J S and Smith, J L and Sylva, S P and Van Dover, C L and Whitcomb, L L and Yoerger, D R}
}
@article {Ferri2010,
	title = {{A novel trigger-based method for hydrothermal vents prospecting using an autonomous underwater robot}},
	journal = {Autonomous Robots},
	volume = {29},
	number = {1},
	year = {2010},
	pages = {67{\textendash}83},
	abstract = {In this paper we address the problem of localizing active hydrothermal vents on the seafloor using an Autonomous Underwater Vehicle (AUV). The plumes emitted by hydrothermal vents are the result of thermal and chemical inputs from submarine hot spring systems into the overlying ocean. The Woods Hole Oceanographic Institution{\textquoteright}s Autonomous Benthic Explorer (ABE) AUV has successfully localized previously undiscovered hydrothermal vent fields in several recent vent prospecting expeditions. These expeditions utilized the AUV for a three-stage, nested survey strategy approach (German et al. in Deep Sea Res. I 55:203{\textendash}219, 2008). Each stage consists of a survey flown at successively deeper depths through easier to detect but spatially more constrained vent fluids. Ideally this sequence of surveys culminates in photographic evidence of the vent fields themselves. In this work we introduce a new adaptive strategy for an AUV{\textquoteright}s movement during the first, highest-altitude survey: the AUV initially moves along pre-designed tracklines but certain conditions can trigger an adaptive movement that is likely to acquire additional high value data for vent localization. The trigger threshold is changed during the mission, adapting the method to the different survey profiles the robot may find. The proposed algorithm is vetted on data from previous ABE missions and measures of efficiency presented.},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0929-5593},
	doi = {10.1007/s10514-010-9187-y},
	url = {http://dx.doi.org/10.1007/s10514-010-9187-y},
	author = {Ferri, G and Jakuba, M V and Yoerger, D R}
}
@article {German2008,
	title = {{Hydrothermal exploration with the Autonomous Benthic Explorer}},
	journal = {Deep-Sea Research. Part I: Oceanographic Research Papers},
	volume = {55},
	number = {2},
	year = {2008},
	pages = {203{\textendash}219},
	keywords = {AUV ABE (Autonomous Benthic Explorer), AUV Sentry (Autonomous Underwater Vehicle), ROV DSL-120 (Remotely Operated Vehicle)},
	issn = {0967-0637},
	doi = {10.1016/j.dsr.2007.11.004},
	url = {http://dx.doi.org/10.1016/j.dsr.2007.11.004},
	author = {German, C R and Yoerger, D R and Jakuba, M V and Shank, T M and Langmuir, C H and Nakamura, K I}
}
@article {Yoerger2007b,
	title = {{Autonomous and remotely operated vehicle technology for hydrothermal vent discovery, exploration, and sampling}},
	journal = {Oceanography},
	volume = {20},
	number = {1},
	year = {2007},
	pages = {152{\textendash}161},
	keywords = {AUV ABE (Autonomous Benthic Explorer), ROV Jason (Remotely Operated Vehicle), ROV Medea (Remotely Operated Vehicle)},
	issn = {1042-8275},
	doi = {10.5670/oceanog.2007.89},
	author = {Yoerger, D R and Bradley, A M and Jakuba, M V and German, C R and Shank, T M and Tivey, M}
}
@article {Yoerger2007,
	title = {{Mid-ocean ridge exploration with an autonomous underwater vehicle}},
	journal = {Oceanography},
	volume = {20},
	number = {4},
	year = {2007},
	pages = {52{\textendash}61},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {1042-8275},
	doi = {10.5670/oceanog.2007.05},
	author = {Yoerger, D R and Bradley, A M and Jakuba, M V and Tivey, M A and German, C R and Shank, T M and Embley, R W}
}
@mastersthesis {Jakuba2007,
	title = {{Stochastic mapping for chemical plume source localization with application to autonomous hydrothermal vent discovery}},
	volume = {Ph.D.},
	year = {2007},
	pages = {325},
	school = {Massachusetts Institutte of Technology and Woods Hole Oceanographic Institution},
	type = {phd},
	address = {Cambridge, Mass. and Woods Hole, Mass.},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	doi = {10.1575/1912/1583},
	url = {http://hdl.handle.net/1912/1583},
	author = {Jakuba, M V}
}
@article {Yoerger2007a,
	title = {{Techniques for deep sea near bottom survey using an autonomous underwater vehicle}},
	journal = {International Journal of Robotics Research},
	volume = {26},
	number = {1},
	year = {2007},
	pages = {41{\textendash}54},
	keywords = {AUV ABE (Autonomous Benthic Explorer)},
	issn = {0278-3649},
	doi = {10.1007/978-3-540-48113-3_36},
	url = {http://dx.doi.org/10.1007/978-3-540-48113-3{\_}36},
	author = {Yoerger, D R and Jakuba, M V and Bradley, A M and Bingham, B}
}
@article {Kelley2005a,
	title = {{A serpentinite-hosted ecosystem: The lost city hydrothermal field}},
	journal = {Science},
	volume = {307},
	number = {5714},
	year = {2005},
	pages = {1428{\textendash}1434},
	keywords = {HOV Alvin (Human Occupied Vehicle)},
	issn = {0036-8075},
	doi = {10.1126/science.1102556},
	url = {http://dx.doi.org/10.1126/science.1102556},
	author = {Kelley, D S and Karson, J A and Fruh-Green, G L and Yoerger, D R and Shank, T M and Butterfield, D A and Hayes, J M and Schrenk, M O and Olson, E J and Proskurowski, G and Jakuba, M V and Bradley, A M and Larson, B I and Ludwig, K A and Glickson, D A and Buckman, K and Bradley, A S and Brazelton, W J and Roe, K and Elend, M J and Delacour, A and Bernasconi, S M and Lilley, M D and Baross, J A and Summons, R T and Sylva, S P}
}
@mastersthesis {Jakuba2003,
	title = {{Modeling and control of an autonomous underwater vehicle with combined foil/thruster actuators}},
	volume = {M.S.},
	year = {2003},
	pages = {123},
	school = {Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution},
	type = {phd},
	address = {Cambridge, MA and Woods Hole, MA},
	keywords = {AUV Sentry (Autonomous Underwater Vehicle)},
	doi = {10.1575/1912/2460},
	url = {http://hdl.handle.net/1912/2460},
	author = {Jakuba, M V}
}
