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Title:
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A Tour of MOOS-IvP Autonomy Software Modules |
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Author:
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Benjamin, Michael R.; Leonard, John J.; Schmidt, Henrik; Newman, Paul M. |
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Other Contributors:
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Robotics, Vision & Sensor Networks |
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Advisor:
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John Leonard |
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Issue Date:
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2009-02-13 |
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Abstract:
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This paper provides an overview of the MOOS-IvP autonomy software modules. The MOOS-IvP collection of software, i.e., codebase, described here has been developed and is currently maintained by three organizations - Oxford University, Massachusetts Institute of Technology (MIT), and the Naval Undersea Warfare Center (NUWC) Division Newport Rhode Island. The objective of this paper is to provide a comprehensive list of modules and provide for each (a) a general description of functionality, (b) dependency relationships to other modules, (c) rough order of magnitude in complexity or size, (d) authorship, and (e) current and planned distribution access. |
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URI:
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http://hdl.handle.net/1721.1/44590
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Series/Report no.:
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MIT-CSAIL-TR-2009-006 |
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Keywords:
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marine vehicles, middleware, autonomous helm, unmanned underwater vehicle, IvP helm, IvP, unmanned surface vehicles, dackseat driver, behaviors, behavior-based, UUV, multi-objective optimization, publish-subscribe, interval programming, USV, Mission Oriented Operating Suite, MOOSDB, MOOS, pHelmIvP, decision making |
