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Tracking Level Curves  
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Tracking Level Curves

tracking temperature curves

 a closesr look
racking the temperature level curve of 14.25 celsius degree in an estimated temperature field near Monterey Bay, CA on August 13, 2003. For visulization purpose, the level curve is accentuated. The trajectory of the center of underwater vehicle formation is plotted. The horizontal axis corresponds to longitude and the vertical axis to latitude.
A closer look at the level curve tracking algorithm in noisy field

References:
Fumin Zhang and Naomi Leonard, "Generating Contour Plots using Multiple sensor platforms," Proc. of 2005 IEEE Swarm Intelligence Symposium, 309-314, June 8-10, 2005. Preprint [bibtex]

Fumin Zhang. and N. E. Leonard . “Cooperative Control and Filtering for Cooperative Exploration.” IEEE Transactions on Automatic Control , accepted June 2008 (to appear) Preprint.