Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles

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.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2020

Author dc:creator

• Stanfield, Brian(Brian Asunuma)

Advisor dc:contributor.advisor

• Michael Benjamin.

• Mechanical Engineering.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/127047

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/127047