Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP

Abstract

This document describes the MOOS-IvP autonomy software for unmanned marine vehicles and its use in large-scale ocean sensing systems. MOOS-IvP is composed of two open-source software projects funded by the Office of Naval Research. MOOS provides a core autonomy middleware capability, and the MOOS project additionally provides a set of ubiquitous infrastructure utilities. The IvP Helm is the primary component of an additional set of capabilities implemented to form a full marine autonomy suite known as MOOS-IvP. This software and architecture are platform and mission agnostic and allow for a scalable nesting of unmanned vehicle nodes to form large-scale, long-endurance ocean sensing systems composed of heterogeneous platform types with varying degrees of communications connectivity, bandwidth, and latency.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2010
Accession Number
ADA559856

Entities

People

  • Henrik Schmidt
  • John J. Leonard
  • Michael R. Benjamin
  • Paul M. Newman

Organizations

  • Naval Undersea Warfare Center

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Acoustic Detection
  • Air Force
  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Collision Avoidance
  • Command And Control
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computers
  • Control Systems
  • Graphical User Interface
  • Navigation
  • Reliability
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Networking
  • Software Engineering.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy