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An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Software

dc.contributor.advisorJohn Leonard
dc.contributor.authorBenjamin, Michael R.en_US
dc.contributor.authorLeonard, John J.en_US
dc.contributor.authorSchmidt, Henriken_US
dc.contributor.authorNewman, Paul M.en_US
dc.contributor.otherRobotics, Vision & Sensor Networksen_US
dc.date.accessioned2009-06-18T17:45:13Z
dc.date.available2009-06-18T17:45:13Z
dc.date.issued2009-06-18
dc.identifier.urihttp://hdl.handle.net/1721.1/45569
dc.description.abstractThis 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.en_US
dc.format.extent168 p.en_US
dc.relation.ispartofseriesMIT-CSAIL-TR-2009-028
dc.subjectUUVen_US
dc.subjectAUVen_US
dc.subjectBehavior Based Architectureen_US
dc.subjectUnmanned Surface Vehiclesen_US
dc.subjectBehavior Based Controlen_US
dc.subjectUnmanned Marine Vehiclesen_US
dc.subjectAction Selectionen_US
dc.subjectCollision Avoidanceen_US
dc.subjectMulti-Objective Optimizationen_US
dc.subjectUnmanned Vehiclesen_US
dc.subjectMOOSen_US
dc.subjectUSVen_US
dc.subjectAutonomous Decision Makingen_US
dc.subjectAutonomous Marine Vehiclesen_US
dc.subjectAutonomous Helmen_US
dc.subjectArbitrationen_US
dc.subjectAutonomous Vehiclesen_US
dc.subjectUnderwater Vehiclesen_US
dc.subjectAIen_US
dc.subjectMOOSDBen_US
dc.subjectBehaviorsen_US
dc.titleAn Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Softwareen_US


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