{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T10:17:38Z","timestamp":1762251458558,"version":"3.37.0"},"reference-count":32,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2009,2,23]],"date-time":"2009-02-23T00:00:00Z","timestamp":1235347200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2009,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper describes the design and use of two new autonomous underwater vehicles, Jaguar and Puma, which were deployed in the summer of 2007 at sites at 85\u00b0N latitude in the ice\u2010covered Arctic Ocean to search for hydrothermal vents. These robots are the first to be deployed and recovered through ice to the deep ocean (&gt;3,500 m) for scientific research. We examine the mechanical design, software architecture, navigation considerations, sensor suite, and issues with deployment and recovery in the ice based on the missions they carried out. Successful recoveries of vehicles deployed under the ice require two\u2010way acoustic communication, flexible navigation strategies, redundant localization hardware, and software that can cope with several different kinds of failure. The ability to direct an autonomous underwater vehicle via the low\u2010bandwidth and intermittently functional acoustic channel is of particular importance. On the basis of our experiences, we also discuss the applicability of the technology and operational approaches of this expedition to the exploration of Jupiter's ice\u2010covered moon Europa. \u00a9 2009 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20288","type":"journal-article","created":{"date-parts":[[2009,2,23]],"date-time":"2009-02-23T17:46:01Z","timestamp":1235411161000},"page":"411-429","source":"Crossref","is-referenced-by-count":57,"title":["Toward extraplanetary under\u2010ice exploration: Robotic steps in the Arctic"],"prefix":"10.1002","volume":"26","author":[{"given":"Clayton","family":"Kunz","sequence":"first","affiliation":[]},{"given":"Chris","family":"Murphy","sequence":"additional","affiliation":[]},{"given":"Hanumant","family":"Singh","sequence":"additional","affiliation":[]},{"given":"Claire","family":"Pontbriand","sequence":"additional","affiliation":[]},{"given":"Robert A.","family":"Sohn","sequence":"additional","affiliation":[]},{"given":"Sandipa","family":"Singh","sequence":"additional","affiliation":[]},{"given":"Taichi","family":"Sato","sequence":"additional","affiliation":[]},{"given":"Chris","family":"Roman","sequence":"additional","affiliation":[]},{"given":"Ko\u2010ichi","family":"Nakamura","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Jakuba","sequence":"additional","affiliation":[]},{"given":"Ryan","family":"Eustice","sequence":"additional","affiliation":[]},{"given":"Richard","family":"Camilli","sequence":"additional","affiliation":[]},{"given":"John","family":"Bailey","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2009,2,23]]},"reference":[{"key":"e_1_2_1_2_1","doi-asserted-by":"crossref","unstructured":"Bahr A.(2008).Cooperative localization for autonomous underwater vehicles. Ph.D. thesis Massachusetts Institute of Technology Cambridge MA.","DOI":"10.1575\/1912\/2852"},{"key":"e_1_2_1_3_1","unstructured":"Bellingham J. Chryssostomidis C. Deffenbaugh M. Leonard J. &Schmidt H.(1993 June).Arctic under\u2010ice survey operations. In International Symposium on Unmanned Untethered Submersible Technology University of New Hampshire Durham NH (pp.50\u201359)."},{"key":"e_1_2_1_4_1","doi-asserted-by":"crossref","unstructured":"Bono R. Bruzzone G. Caccia M. Spirandelli E. &Veruggio G.(1998 October).Romeo goes to Antarctica. In Proceedings of the IEEE\/MTS Oceans Conference and Exhibition Nice France (vol. 3 pp.1568\u20131572).","DOI":"10.1109\/OCEANS.1998.726336"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.203.4385.1073"},{"key":"e_1_2_1_6_1","unstructured":"Deans M. C. Wettergreen D. &Villa D.(2005 September).A sun tracker for planetary analog rovers. In 8th International Symposium on Artificial Intelligence Robotics and Automation in Space Munich Germany."},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature02128"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature01351"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2008.923547"},{"key":"e_1_2_1_10_1","doi-asserted-by":"crossref","unstructured":"Eustice R. M. Whitcomb L. L. Singh H. &Grund M.(2007 April).Experimental results in synchronous\u2010clock one\u2010way\u2010travel\u2010time acoustic navigation for autonomous underwater vehicles. In Proceedings of the IEEE International Conference on Robotics and Automation Rome Italy (pp.4257\u20134264).","DOI":"10.1109\/ROBOT.2007.364134"},{"key":"e_1_2_1_11_1","unstructured":"Fairfield N. Jonak D. Kantor G. A. &Wettergreen D.(2007 August).Field results of the control navigation and mapping systems of a hovering AUV. In International Symposium on Unmanned Untethered Submersible Technology Durham NH."},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20165"},{"key":"e_1_2_1_13_1","first-page":"08318","article-title":"Small AUV deployment under ice: Pavilion lake, B.C., Canada (a case study)","volume":"9","author":"Forrest A.","year":"2007","journal-title":"Geophysical Research Abstracts"},{"volume-title":"Proceedings of the International Masterclass, Society for Underwater Technology","year":"2007","author":"Griffiths G.","key":"e_1_2_1_14_1"},{"key":"e_1_2_1_15_1","doi-asserted-by":"crossref","unstructured":"Howland J. Farr N. &Singh H.(2006 September).Field tests of a new camera\/LED strobe system. In Proceedings of the IEEE\/MTS Oceans Conference and Exhibition Boston MA.","DOI":"10.1109\/OCEANS.2006.307142"},{"key":"e_1_2_1_16_1","unstructured":"IXSEA Octans(2008). Retrieved January 12 2009 fromhttp:\/\/www.ixsea.com\/en\/products\/002.001.001.001\/octans.html."},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20250"},{"key":"e_1_2_1_18_1","unstructured":"Jakuba M. Yoerger D. Bradley A. German C. Langmuir C. &Shank T.(2005 August).Multiscale multimodal AUV surveys for hydrothermal vent localization. In International Symposium on Unmanned Untethered Submersible Technology Durham NH."},{"key":"e_1_2_1_19_1","doi-asserted-by":"crossref","unstructured":"Kristensen J. &Vestgard K.(1998 October).Hugin\u2014An untethered underwater vehicle for seabed surveying. In Proceedings of the IEEE\/MTS Oceans Conference and Exhibition Nice France (vol. 1 pp.118\u2013123).","DOI":"10.1109\/OCEANS.1998.725657"},{"volume-title":"High latitudes\u2014A history of Swedish polar travels and research 1758\u20131980","year":"1993","author":"Liljequist G. H.","key":"e_1_2_1_20_1"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2004.838336"},{"volume-title":"Underwater acoustic positioning systems","year":"1983","author":"Milne P. H.","key":"e_1_2_1_22_1"},{"key":"e_1_2_1_23_1","doi-asserted-by":"crossref","unstructured":"Murphy C. &Singh H.(2008 September).Human\u2010guided autonomy for acoustically tethered underwater vehicles. In Proceedings of the IEEE\/MTS Oceans Conference and Exhibition Quebec Quebec Canada.","DOI":"10.1109\/OCEANS.2008.5152028"},{"issue":"52","key":"e_1_2_1_24_1","article-title":"Arctic Gakkel Ridge hydrothermal plume study by in\u2010situ redox and particle size measurements","volume":"88","author":"Nakamura K.","year":"2007","journal-title":"Eos Transactions, American Geophysical Union"},{"issue":"52","key":"e_1_2_1_25_1","article-title":"Biological and geological characteristics of the Gakkel Ridge","volume":"88","author":"Shank T. M.","year":"2007","journal-title":"Eos Transactions, American Geophysical Union"},{"key":"e_1_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1029\/2004EO310002"},{"key":"e_1_2_1_27_1","doi-asserted-by":"crossref","unstructured":"Singh S. Grund M. Bingham B. Eustice R. Singh H. &Freitag L.(2006).Underwater acoustic navigation with the WHOI Micro Modem. In Proceedings of the IEEE\/MTS Oceans Conference and Exhibition Boston MA.","DOI":"10.1109\/OCEANS.2006.306853"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature07075"},{"issue":"52","key":"e_1_2_1_29_1","article-title":"Scientific scope and summary of the Arctic Gakkel vents (AGAVE) expedition","volume":"88","author":"Sohn R. A.","year":"2007","journal-title":"Eos Transactions, American Geophysical Union"},{"key":"e_1_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/48.486787"},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/1347364.1347373"},{"key":"e_1_2_1_32_1","doi-asserted-by":"crossref","unstructured":"Thorleifson J. Davies T. Black M. Hopkin D. &Verrall R.(1997 October).The Theseus autonomous underwater vehicle: A Canadian success story. In Proceedings of the IEEE\/MTS Oceans Conference and Exhibition Halifax NS Canada (vol. 2 pp.1001\u20131006).","DOI":"10.1109\/OCEANS.1997.624127"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.1062492"}],"container-title":["Journal of Field Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.20288","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.20288","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,7]],"date-time":"2025-02-07T21:26:30Z","timestamp":1738963590000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.20288"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,2,23]]},"references-count":32,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2009,4]]}},"alternative-id":["10.1002\/rob.20288"],"URL":"https:\/\/doi.org\/10.1002\/rob.20288","archive":["Portico"],"relation":{},"ISSN":["1556-4959","1556-4967"],"issn-type":[{"type":"print","value":"1556-4959"},{"type":"electronic","value":"1556-4967"}],"subject":[],"published":{"date-parts":[[2009,2,23]]}}}