Autonomous cooperation of heterogeneous platforms for sea-based search tasks
Name
402770749-MIT.pdf
Description
Full printable version
Size
4.11 MB
Format
Adobe PDF
Checksum (MD5)
c997a6aa78705104477f89188116bb2b
Author(s)
Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology
Advisor(s)
John J. Leonard and Michael R. Benjamin.
Date Issued
2008
Publisher
Massachusetts Institute of Technology
Abstract
Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. Software modules for the autonomy framework MOOS-IvP are described that implement this framework. Simulated and experimental results show that it is feasible to combine both pre-planned and adaptive behaviors to eectively search a target area.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 87-90).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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reproduction or distribution in any format is prohibited without written
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