ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs
Correspondence: dgutierrezreina@us.es.
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| Other Authors: | , , |
| Format: | article |
| Language: | English |
| Published: |
2026
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| Online Access: | https://doi.org/10.3390/electronics15030676 http://hdl.handle.net/20.500.14066/4759 |
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| _version_ | 1870612065944600576 |
|---|---|
| author | Jara Ten Kathen, Micaela Carolina |
| author2 | Benítez, Natalia Arzamendia López, Mario Eduardo Gutierrez Reina, Daniel |
| author2_role | author author author |
| author_browse | Arzamendia López, Mario Eduardo Benítez, Natalia Gutierrez Reina, Daniel Jara Ten Kathen, Micaela Carolina |
| author_facet | Jara Ten Kathen, Micaela Carolina Benítez, Natalia Arzamendia López, Mario Eduardo Gutierrez Reina, Daniel |
| author_role | author |
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| bitstream.checksumAlgorithm.fl_str_mv | MD5 MD5 MD5 MD5 |
| bitstream.url.fl_str_mv | http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/2/license_rdf http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/3/license.txt http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/1/ACO-Path%20ACO-based%20informative%20path%20planning%20with%20Gaussian%20processes%20for%20water%20monitoring%20with%20a%20fleet%20of%20ASVs.pdf http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/4/ACO-Path%20ACO-based%20informative%20path%20planning%20with%20Gaussian%20processes%20for%20water%20monitoring%20with%20a%20fleet%20of%20ASVs.jpg |
| dc.creator.none.fl_str_mv | Jara Ten Kathen, Micaela Carolina Benítez, Natalia Arzamendia López, Mario Eduardo Gutierrez Reina, Daniel |
| dc.date.accessioned.none.fl_str_mv | 2026-04-21T12:06:56Z |
| dc.date.available.none.fl_str_mv | 2026-04-21T12:06:56Z |
| dc.date.issued.none.fl_str_mv | 2026-02-04 |
| dc.format.extent.es.fl_str_mv | 28 páginas |
| dc.identifier.citation.en.fl_str_mv | Jara Ten Kathen, M., Benitez, N., Arzamendia, M., & Gutiérrez Reina, D. (2026). ACO-Path: ACO-Based Informative Path Planning with Gaussian Processes for Water Monitoring with a Fleet of ASVs. Electronics, 15(3), 676. https://doi.org/10.3390/electronics15030676 |
| dc.identifier.doi.es.fl_str_mv | 10.3390/electronics15030676 |
| dc.identifier.essn.es.fl_str_mv | 2079-9292 |
| dc.identifier.other.es.fl_str_mv | https://doi.org/10.3390/electronics15030676 |
| dc.identifier.uri.none.fl_str_mv | http://hdl.handle.net/20.500.14066/4759 |
| dc.language.iso.es.fl_str_mv | eng |
| dc.publisher.es.fl_str_mv | Multidisciplinary Digital Publishing Institute |
| dc.relation.institBenef.es.fl_str_mv | Universidad Nacional de Asunción. Facultad de Ingeniería |
| dc.relation.projectCONACYT.es.fl_str_mv | PINV01-819 |
| dc.rights.*.fl_str_mv | Atribución/Reconocimiento 4.0 Internacional |
| dc.rights.accessRights.es.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.rights.uri.*.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.subject.classification.es.fl_str_mv | 2. Medio ambiente 2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminación |
| dc.subject.ocde.es.fl_str_mv | 1. Ciencias Naturales 1.6. Ciencias Biológicas |
| dc.subject.other.es.fl_str_mv | Ant colony optimization Autonomous surface vehicles Gaussian process Informative path planning Water monitoring |
| dc.title.es.fl_str_mv | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| dc.type.es.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | Correspondence: dgutierrezreina@us.es. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | CONACYT_237fb5c9a463c7072d90dbeffb61d1c8 |
| identifier_str_mv | Jara Ten Kathen, M., Benitez, N., Arzamendia, M., & Gutiérrez Reina, D. (2026). ACO-Path: ACO-Based Informative Path Planning with Gaussian Processes for Water Monitoring with a Fleet of ASVs. Electronics, 15(3), 676. https://doi.org/10.3390/electronics15030676 10.3390/electronics15030676 2079-9292 |
| language | eng |
| network_acronym_str | CONACYT |
| network_name_str | Repositorio Institucional CONACYT |
| oai_identifier_str | oai:repositorio.conacyt.gov.py:20.500.14066/4759 |
| publishDate | 2026 |
| publishDateSort | 2026 |
| repository.mail.fl_str_mv | repositorio.institucional@conacyt.gov.py |
| repository.name.fl_str_mv | Repositorio Institucional CONACYT |
| repository_id_str | |
| rights_invalid_str_mv | Atribución/Reconocimiento 4.0 Internacional http://creativecommons.org/licenses/by/4.0/ |
| spelling | c98bcf7b-1080-42f7-a3aa-7742a6b3ed7e600641304f4-0859-4db5-9dc4-1eccf5b06e176001006006983111e-47b1-4d63-a539-d013611b5ca26002026-04-21T12:06:56Z2026-04-21T12:06:56Z2026-02-04Jara Ten Kathen, M., Benitez, N., Arzamendia, M., & Gutiérrez Reina, D. (2026). ACO-Path: ACO-Based Informative Path Planning with Gaussian Processes for Water Monitoring with a Fleet of ASVs. Electronics, 15(3), 676. https://doi.org/10.3390/electronics15030676https://doi.org/10.3390/electronics15030676http://hdl.handle.net/20.500.14066/475910.3390/electronics150306762079-9292Correspondence: dgutierrezreina@us.es.This article belongs to the Special Issue Path Planning and Navigation for Autonomous Vehicles and Intelligent Robots.Autonomous surface vehicles can support water-quality monitoring, but they require planners that place measurements where they most improve the environmental estimate under mission constraints. This paper proposes ACO-Path, an informative path planner that couples Ant Colony Optimization -Ant System- with online Gaussian Process mapping. During the mission, the Gaussian Process updates a mean or contamination map and a variance or uncertainty map, from which dynamic action zones are derived and used to guide an explicit explore then exploit policy. The method is evaluated in a simulated water resource monitoring scenario inspired by Lake Ypacaraí, considering three exploration distances and two heuristic weights. In a comparison against five baseline planners, ACOPath achieves the lowest hotspot error, Errorpeak = 0.19896 0.39400, while remaining competitive in global reconstruction, MSEmap = 0.00144 0.00348, R2 = 0.96066 0.09861. In addition, a turning analysis based on the absolute heading change between consecutive segments shows that ACO-Path produces smoother trajectories, with fewer sharp turns 45 than counterpart baselines under the same mission constraints.Consejo Nacional de Ciencia y TecnologíaPrograma Paraguayo para el Desarrollo de la Ciencia y Tecnología. Proyectos de investigación y desarrollo28 páginasengMultidisciplinary Digital Publishing InstituteAtribución/Reconocimiento 4.0 Internacionalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccess© 2026 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.2. Medio ambiente2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminaciónAnt colony optimizationAutonomous surface vehiclesGaussian processInformative path planningWater monitoring1. Ciencias Naturales1.6. Ciencias BiológicasACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVsinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersion3ElectronicsPINV01-819Universidad Nacional de Asunción. Facultad de Ingeniería15Jara Ten Kathen, Micaela CarolinaBenítez, NataliaArzamendia López, Mario EduardoGutierrez Reina, DanielCC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8908http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/2/license_rdf0175ea4a2d4caec4bbcc37e300941108MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-81698http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/3/license.txt858b22fda432bd774e469302988c1974MD53ORIGINALACO-Path ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs.pdfACO-Path ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs.pdfArtículo científicoapplication/pdf6115742http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/1/ACO-Path%20ACO-based%20informative%20path%20planning%20with%20Gaussian%20processes%20for%20water%20monitoring%20with%20a%20fleet%20of%20ASVs.pdff7a58ea12d853f9a36dcabc57c730818MD51THUMBNAILACO-Path ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs.jpgACO-Path ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs.jpgArtículo científicoimage/jpeg503227http://repositorio.conacyt.gov.py/bitstream/20.500.14066/4759/4/ACO-Path%20ACO-based%20informative%20path%20planning%20with%20Gaussian%20processes%20for%20water%20monitoring%20with%20a%20fleet%20of%20ASVs.jpgaca4565f30b1d67abe273e272891db3fMD5420.500.14066/4759oai:repositorio.conacyt.gov.py:20.500.14066/47592026-04-21 12:20:20.309Repositorio Institucional CONACYTrepositorio.institucional@conacyt.gov.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 |
| spellingShingle | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs Jara Ten Kathen, Micaela Carolina 2. Medio ambiente 2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminación Ant colony optimization Autonomous surface vehicles Gaussian process Informative path planning Water monitoring 1. Ciencias Naturales 1.6. Ciencias Biológicas |
| status_str | publishedVersion |
| title | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| title_full | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| title_fullStr | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| title_full_unstemmed | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| title_short | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| title_sort | ACO-Path : ACO-based informative path planning with Gaussian processes for water monitoring with a fleet of ASVs |
| topic | 2. Medio ambiente 2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminación Ant colony optimization Autonomous surface vehicles Gaussian process Informative path planning Water monitoring 1. Ciencias Naturales 1.6. Ciencias Biológicas |
| url | https://doi.org/10.3390/electronics15030676 http://hdl.handle.net/20.500.14066/4759 |