Towards a Reliable Heterogeneous Robotic Water Quality Monitoring System: An Experimental Analysis

This paper examines the utility of a heterogeneous system of robots, fixed plat-forms, and sensors that strategically monitors water quality via an experimental analysis. From our analysis on the effects of robot movement and interactions on  water  quality sensors, we share observations and ways to account for sensor limitations in robotic coverage and motion planning methodologies. These insights aim to improve both robotic sampling techniques for collecting reliable sensor data and traditional limnology field sampling methodologies with higher-resolution analysis of water quality processes. In general, these insights are useful to define and solve a new class of robotics problems that can be called sensor-constrained active perception.