An Overview of MOOS-IvP and a Users Guide to the IvP Helm - Release 4.2.1
Name
MIT-CSAIL-TR-2011-037.pdf
Size
6.09 MB
Format
Adobe PDF
Checksum (MD5)
820251ce957ba5b150063954a59b8149
Author(s)
Benjamin, Michael R.
Schmidt, Henrik
Newman, Paul
Leonard, John J.
Advisor(s)
John Leonard
Date Issued
August 3, 2011
Series/Report no.
MIT-CSAIL-TR-2011-037
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.moos-ivp.org.
Subjects
Unmanned Underwater Vehicles
UUV
Unmanned Surface Vehicles
USV
Unmanned Vehicles
Autonomy
Marine Vehicles
Marine Autonomy
pHelmIvP
MOOS
Autonomous Vehicles
Autonomous Marine Vehicles
Unmanned Marine Vehicles
Multi-objective Optimization
Behavior-Based Control
Behavior-Based Architecture
Terms of Use
Creative Commons Attribution-ShareAlike 3.0 Unported
Persistent DSpace Link
