2026-09-20T12:07:52Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/456502022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
John J. Leonard and Michael R. Benjamin.
Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2009-06-25T20:38:09Z
2009-06-25T20:38:09Z
2008
2008
http://hdl.handle.net/1721.1/45650
402770749
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).
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.
by Andrew J. Shafer.
M.Eng.
90 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Autonomous cooperation of heterogeneous platforms for sea-based search tasks
Thesis
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