Autonomous Cooperation of Heterogeneous Platforms for Sea-Based Search Tasks

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 effectively search a target area.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2008
Accession Number
ADA502456

Entities

People

  • Andrew J. Shafer
  • John J. Leonard
  • Joseph Curcio
  • Michael R. Benjamin

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Surface Vehicles
  • Autonomous Underwater Vehicles
  • Computers
  • Control Systems
  • Cooperation
  • Detection
  • Detectors
  • False Alarms
  • Navigation
  • Platforms
  • Sea Based
  • Seabed
  • Signal Detection
  • Simulations
  • Underwater Vehicles
  • Warning Systems

Fields of Study

  • Computer science

Readers

  • Aerospace Engineering
  • Distributed Systems and Data Platform Development
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.