An Overview of MOOS-IvP and a Users Guide to the IvP Helm Autonomy Software
Name
MIT-CSAIL-TR-2010-041.pdf
Size
6.04 MB
Format
Adobe PDF
Checksum (MD5)
fbae3be0ad9b664a28da7428795636cd
Author(s)
Benjamin, Michael R.
Newman, Paul
Schmidt, Henrik
Leonard, John J.
Advisor(s)
John Leonard
Date Issued
August 27, 2010
Series/Report no.
MIT-CSAIL-TR-2010-041
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.
Subjects
pMarineViewer
uTimerScript
Adaptive Autonomy
USV
UUV
UxV
Unmanned Marine Vehicles
Marine Autonomy
AUV
NURC
Persistent DSpace Link
