Adaptive survey-line planning for USV-based multibeam bathymetric surveying using moving-neighborhood residual kriging and swath-overlap constraints

2026-08-05

PRE

Yunhao Yin

Lei Wang *

Yingchun Cui

王

王胜利 (Shengli Wang)

DOI：10.1016/j.measurement.2026.122788

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• Adaptive planning facilitates the maintenance of reliable coverage across diverse water depths. • Adaptive planning has the potential to reduce survey effort during sequential surveys. • Local depth variation ought to be taken into account in the spacing of survey lines.

Keywords:

USV-based multibeam bathymetry

Adaptive survey-line planning

Moving-neighborhood residual kriging

Swath-overlap constraints

Adaptive survey-line planning for USV-based multibeam bathymetric surveying using moving-neighborhood residual kriging and swath-overlap constraints

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