Development of a Distributed Simulation Cluster for MOOS-IvP
Name
becker-kevin00-ms-2-2024-thesis.pdf
Description
Thesis PDF
Size
5.63 MB
Format
Adobe PDF
Checksum (MD5)
67712a1225583227928cf924068c71fe
Author(s)
Becker, Kevin
Advisor(s)
Benjamin, Michael Richard
Date Issued
May 2024
Publisher
Massachusetts Institute of Technology
Abstract
Batch testing simulations of autonomy software make verification and optimization much easier and more robust. The ability to verify and optimize code is particularly important for large, expensive assets, such as marine vessels, where the cost of any failure is high. This thesis discusses the architecture, implementation, and use of an expandable simulation toolbox for MOOS-IvP. The toolbox utilizes Monte Carlo simulations since these are incredibly flexible for differing scenarios. A distributed architecture improves robustness since a single failure does not bring the cluster down. Additionally, personal computers may be added to the cluster during off hours, thus increasing the average computing power.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
Copyright retained by author(s)
Persistent DSpace Link
