Development of a Distributed Simulation Cluster for MOOS-IvP

Batch testing simulations of autonomy software make verification and optimization much easier and more robust. The ability to verify and optimize code is particularly important for large, expensive assets, such as marine vessels, where the cost of any failure is high. This thesis discusses the architecture, implementation, 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 computers may be added to the cluster during off hours, thus increasing the average computing power.

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

2024

Author dc:creator

• Becker, Kevin

Advisor dc:contributor.advisor

• Benjamin, Michael Richard

Statement dc:rights

• Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
• Copyright retained by author(s)

Licence dc:rights.uri

• https://creativecommons.org/licenses/by-nc-nd/4.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/155876

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/155876