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T. O. Fossum, Fragoso, G. M., Davies, E. J., Ullgren, J. E., Mendes, R., Johnsen, G., Ellingsen, I., Eidsvik, J., Ludvigsen, M., and Rajan, K., “Toward adaptive robotic sampling of phytoplankton in the coastal ocean”, Science Robotics, vol. 4, 2019.