Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 21 for “"MOOS-IvP"”.
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Development of a Distributed Simulation Cluster for MOOS-IvP
… 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 …
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Automated decision making for operations within a Traffic Separation Scheme using MOOS-IvP
… represent a Traffic Separation Scheme in MOOS-IvP simulation software using a structure modeled after Title 33 of the Code of Federal Regulations. Two types of Traffic Separation Scheme intents are communicated: traffic lane compliance, in which the vessel in the traffic lane is within the …
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Using Multiple Objective Optimization for Autonomous Sailing Vessels
… Oriented Operating Suite-Interval Programming (MOOS-IvP) platform, to meet the unique navigational demands and operational constraints of autonomous sailing vessels. Recognizing a gap in the existing IvP Helm framework’s ability to accommodate the intricate dynamics of wind-powered navigation, …
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Enabling tactical autonomy for unmanned surface vehicles in defensive swarm engagements
… Operating Suite with Interval Programming (MOOS-IvP) to enable a number of simulated unmanned surface vehicles (USV) to provide defense for a high value unit (HVU) against fast attack craft (FAG) aggressors. The primary objective is to enable a swarm of defending vehicles to protect the HVU …
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Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles
… Operating Suite with Interval Programming (MOOS-IvP) was utilized to demonstrate this capability and finally, this work provides an analysis of MOOS-IvP simulated data runs utilizing contact management and vehicular dynamics.
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An Application of Graph of Convex Sets Trajectory Optimization to the Marine Robotics Domain
… implemented the GCS planner as part of the MOOS-IvP so software suite for autonomous marine robotics. The robustness of the trajectories returned from GCS was evaluated via Monte Carlo trials on a simulated USV traversing a field of randomized known and unknown obstacles. The performance of …
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Autonomous cooperation of heterogeneous platforms for sea-based search tasks
… 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.
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A planned approach to high collision risk area
… speed domain is proposed and implemented as a MOOS-IvP behavior. This behavior gives the vessel awareness of future collision risks and aids the collision avoidance process. This new approach improves the safety of the vessel by reducing the number of risky encounters that will likely require …
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A planned approach to high collision risk area
… speed domain is proposed and implemented as a MOOS-IvP behavior. This behavior gives the vessel awareness of future collision risks and aids the collision avoidance process. This new approach improves the safety of the vessel by reducing the number of risky encounters that will likely require …
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Depth discrimination of an acoustic source based on modal energy distribution - performance analysis/
… of the array elements was obtained using the MOOS-IvP simulation package. Among the main towing parameters of the performance evaluation was the pitch angle of the array. The main finding of this study is the discovery of a relationship between vertical orientation of the array and the …
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Autonomous adaptation and collaboration of unmanned vehicles for tracking submerged contacts
… Our primary contribution has been to develop new MOOS-IvP autonomy and state estimation modules to enable an autonomous surface vehicle to locate and track a submerged contact using range-only sensor information. These capabilities were initially tested in simulation for increasing levels of …
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Wingsail design methodology and performance evaluation metrics for autonomous sailing
… and the behavior-based autonomy middleware, MOOS-IvP. Field tests confirm the robustness of this framework, establishing a foundation for the integration of physics-based design optimization and adaptive autonomy for windpowered marine vehicles.
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Wingsail Design Methodology and Performance Evaluation Metrics for Autonomous Sailing
… and the behavior-based autonomy middleware, MOOS-IvP. Field tests confirm the robustness of this framework, establishing a foundation for the integration of physics-based design optimization and adaptive autonomy for wind-powered marine vehicles.
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Decentralized Declustering of Multiple Underactuated Autonomous Surface Vehicles
… systems. The approach is implemented using the MOOS-IvP autonomy framework, and performance is evaluated through simulation with up to \(64\) vehicles and extensive field trials with eight vehicles. Results demonstrate that our approach reduces the time to decluster for the most challenging …
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Path Planning for Autonomous Sailing Vessels: Developing Robust and Efficient Survey Strategies
… the application of autonomy frameworks such as MOOS-IvP. A key focus is on optimizing continuous coverage path planning (CPP) to maximize efficiency while adapting to environmental constraints. By integrating real-time wind data and vessel performance characteristics, the study refines survey …
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Rapidly Estimating Swarm Resource Needs Through Autonomous Simulation
… resource-aware multi-robot patrol missions in MOOS-IvP. In each mission, vehicles perpetually patrol a grid and must periodically break patrol formation to refuel at a depot. Missions measure their performance based on how frequently robots visit each portion of the mission operating area (grid …
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Cooperative autonomous tracking and prosecution of targets using range-only sensors
… The premise for this research is to use the MOOS-IvP code architecture, developed at MIT, to promote and advance marine vehicle autonomy collective knowledge through a project called Hunter-Prey. In this scenario, two or more surface vehicles attempt to cooperatively track an evading …
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Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles
… algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. This metric is used in conjunction with a measure of formation energy expenditure to compare the efficacy of each behaviour during construction of a desired …
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Distributed autonomy and formation control of a drifting swarm of autonomous underwater vehicles
… algorithms, each developed and tested within the MOOS-IvP framework, are presented. In addition, a 'formation quality' metric is introduced. This metric is used in conjunction with a measure of formation energy expenditure to compare the efficacy of each behaviour during construction of a desired …
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Characterization of underwater target geometry from Autonomous Underwater Vehicle sampling of bistatic acoustic scattered fields
… of simulated targets in real time in the LAMSS MOOS-IvP simulation environment.
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