An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Software

Title:	An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Software
Author:	Benjamin, Michael R.; Leonard, John J.; Schmidt, Henrik; Newman, Paul M.
Other Contributors:	Robotics, Vision & Sensor Networks
Advisor:	John Leonard
Issue Date:	2009-06-18
Abstract:	This document describes the IvP Helm - an Open Source behavior-based autonomy application for unmanned vehicles. IvP is short for interval programming - a technique for representing and solving multi-objective optimizations problems. Behaviors in the IvP Helm are reconciled using multi-objective optimization when in competition with each other for influence of the vehicle. The IvP Helm is written as a MOOS application where MOOS is a set of Open Source publish-subscribe autonomy middleware tools. This document describes the configuration and use of the IvP Helm, provides examples of simple missions and information on how to download and build the software from the MOOS-IvP server at www.moosivp.org.
URI:	http://hdl.handle.net/1721.1/45569
Series/Report no.:	MIT-CSAIL-TR-2009-028
Keywords:	UUV, AUV, Behavior Based Architecture, Unmanned Surface Vehicles, Behavior Based Control, Unmanned Marine Vehicles, Action Selection, Collision Avoidance, Multi-Objective Optimization, Unmanned Vehicles, MOOS, USV, Autonomous Decision Making, Autonomous Marine Vehicles, Autonomous Helm, Arbitration, Autonomous Vehicles, Underwater Vehicles, AI, MOOSDB, Behaviors

Files in this item

Files	Size	Format	View
MIT-CSAIL-TR-2009-028.pdf	4.101Mb	PDF	View/Open
MIT-CSAIL-TR-2009-028.ps	22.70Mb	Postscript	View/Open

The following license files are associated with this item: