Extending a MOOS-IvP Autonomy System and Users Guide to the IvPBuild Toolbox

Author(s)
Benjamin, Michael R.; Newman, Paul M.; Schmidt, Henrik; Leonard, John J.
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Advisor
Robotics, Vision & Sensor Networks
John Leonard
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Abstract
This document describes how to extend the suite of MOOS applications and IvP Helm behaviors distributed with the MOOS-IvP software bundle from www.moos-ivp.org. It covers (a) a straw-man repository with a place-holder MOOS application and IvP Behavior, with a working CMake build structure, (b) a brief overview of the MOOS application class with an example application, (c) an overview of the IvP Behavior class with an example behavior, and (d) the IvPBuild Toolbox for generation of objective functions within behaviors.
Date issued
2009-08-20
URI
http://hdl.handle.net/1721.1/46361
Series/Report no.
MIT-CSAIL-TR-2009-037
Keywords
UUV, Behavior Based Control, Unmanned Vehicles, Multi-objective Optimization, Autonomous Marine Vehicles, Behavior Based Architecture, Autonomous Vehicles, AUV, Arbitration, MOOSDB, Unmanned Marine Vehicles, Action Selection, Multi-Objective Optimization, Autonomous Helm, USV, Unmanned Surface Vehicles, MOOS, Behaviors, Artificial Intelligence, Autonomous Decision Making, Underwater Vehicles, ZAIC
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