Real-time Remote Tracking and Autonomous Planning for Whale Rendezvous using Robots
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866908695096459264 |
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| author | Bhattacharya, Sushmita Jadhav, Ninad Izhar, Hammad Li, Karen George, Kevin Wood, Robert Gil, Stephanie |
| author_facet | Bhattacharya, Sushmita Jadhav, Ninad Izhar, Hammad Li, Karen George, Kevin Wood, Robert Gil, Stephanie |
| contents | We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to guide navigation decisions. Key challenges include (i) real-time acoustic tracking in the presence of multiple whales, (ii) distributed communication and decision-making for robot deployments, and (iii) on-board signal processing and long-range detection from fish-trackers. We evaluate our system by conducting rendezvous with sperm whales at sea in Dominica, performing hardware experiments on land, and running simulations using whale trajectories interpolated from marine biologists' surface observations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_05808 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Real-time Remote Tracking and Autonomous Planning for Whale Rendezvous using Robots Bhattacharya, Sushmita Jadhav, Ninad Izhar, Hammad Li, Karen George, Kevin Wood, Robert Gil, Stephanie Robotics We introduce a system for real-time sperm whale rendezvous at sea using an autonomous uncrewed aerial vehicle. Our system employs model-based reinforcement learning that combines in situ sensor data with an empirical whale dive model to guide navigation decisions. Key challenges include (i) real-time acoustic tracking in the presence of multiple whales, (ii) distributed communication and decision-making for robot deployments, and (iii) on-board signal processing and long-range detection from fish-trackers. We evaluate our system by conducting rendezvous with sperm whales at sea in Dominica, performing hardware experiments on land, and running simulations using whale trajectories interpolated from marine biologists' surface observations. |
| title | Real-time Remote Tracking and Autonomous Planning for Whale Rendezvous using Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.05808 |