{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/127047"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/127047","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles","abstract":"This research studies techniques that can be applied to practical multi-task multi-vessel marine applications to manage mission planning for autonomous surface vehicles (ASVs). This thesis investigated the use of a decentralized Consensus Based Auction Algorithm (CBAA) for marine autonomous vehicles while incorporating contact management and marine vehicular dynamics [1]. CBAA is a task allocation system that does not require a central agency. The task investigated in this thesis is to transit to a waypoint in a dynamic environment, including other moving vessels to avoid. To reach the goal of this thesis, this methodology is implemented to assign a value to an auction bid given the contact environment and vehicle dynamics. The Mission Oriented 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.","abstract_html":"This research studies techniques that can be applied to practical multi-task multi-vessel marine applications to manage mission planning for autonomous surface vehicles (ASVs). This thesis investigated the use of a decentralized Consensus Based Auction Algorithm (CBAA) for marine autonomous vehicles while incorporating contact management and marine vehicular dynamics [1]. CBAA is a task allocation system that does not require a central agency. The task investigated in this thesis is to transit to a waypoint in a dynamic environment, including other moving vessels to avoid. To reach the goal of this thesis, this methodology is implemented to assign a value to an auction bid given the contact environment and vehicle dynamics. The Mission Oriented 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.","abstract_has_math":false,"creators":["Stanfield, Brian(Brian Asunuma)"],"institution":"Massachusetts Institute of Technology","degree_name":"Master","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. 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To reach the goal of this thesis, this methodology is implemented to assign a value to an auction bid given the contact environment and vehicle dynamics. The Mission Oriented 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."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Nav. E.","S.M."]},{"key":"dc:title","label":"Title","values":["Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles"]}]}],"canonical_facts":{"dc:contributor.advisor":["Michael Benjamin."],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Mechanical Engineering","MechE"],"dc:contributor.other":["Massachusetts Institute of Technology. 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