Monitoring Marine Environments using a Team of Heterogeneous Robots

We present a novel approach for monitoring marine environments by a team of heterogeneous robots, comprising of a fixed-wing aerial vehicle, an autonomous airboat, and a legged underwater robot. The goal is to receive a region of interest from a remote human supervisor, and then using the coordinated effort of the robot team, produce a concise summary consisting of a small number of images, which capture the visual diversity of the region of interest. The summary could then be used by a human supervisor to plan for further exploration.