Demonstration of Autonomous Nested Search for Local Maxima Using an Unmanned Underwater Vehicle.

Ocean Worlds represent one of the best chances for extra-terrestrial life in our solar system. A new mission concept must be developed to explore these oceans. This mission would require traversing the 10s of km thick icy shell and releasing a submersible into the ocean below. During the transit of the icy shell and the exploration of the ocean, the vehicle(s) would be out of contact with Earth for weeks or potentially months at a time. During this time the vehicle must have sufficient autonomy to locate and study scientific targets of interest. One such target of interest is hydrothermal venting. We have previously developed an autonomous nested search method to locate and investigate sources of hydrothermal venting by locating local maxima in hydrothermal vent emissions. In this work we demonstrate this approach on board an OceanServer Iver2 AUV in Chesapeake Bay, MD using simulated sensor data from a hydrothermal plume model. This represents the first step towards the deployment of this approach in conditions analogous to those that we might expect on an Ocean World.