{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/45650"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/45650","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Autonomous cooperation of heterogeneous platforms for sea-based search tasks","abstract":"Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. 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.","abstract_html":"Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. 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.","abstract_has_math":false,"creators":["Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.","school":null,"contributors":[],"advisors":["John J. Leonard and Michael R. Benjamin."],"committee_chairs":[],"committee_members":[],"year":2008,"date_issued":"2008","date_published":"2008","updated_at":"2026-07-22T22:21:51Z","subjects":["Electrical Engineering and Computer Science."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"rights_urls":["http://dspace.mit.edu/handle/1721.1/7582"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/1721.1/45650","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["John J. Leonard and Michael R. Benjamin."]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:contributor.other","label":"Dc Contributor Other","values":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."]},{"key":"dc:creator","label":"Author","values":["Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2009-06-25T20:38:09Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2009-06-25T20:38:09Z"]},{"key":"dc:date.issued","label":"Date","values":["2008"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Electrical Engineering and Computer Science."]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://dspace.mit.edu/handle/1721.1/7582"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/1721.1/45650"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.","This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Includes bibliographical references (p. 87-90)."]},{"key":"dc:description.abstract","label":"Abstract","values":["Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. 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."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M.Eng."]},{"key":"dc:title","label":"Title","values":["Autonomous cooperation of heterogeneous platforms for sea-based search tasks"]}]}],"canonical_facts":{"dc:contributor.advisor":["John J. Leonard and Michael R. Benjamin."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:contributor.other":["Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science."],"dc:creator":["Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology"],"dc:date.accessioned":["2009-06-25T20:38:09Z"],"dc:date.available":["2009-06-25T20:38:09Z"],"dc:date.issued":["2008"],"dc:description":["Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.","This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.","Includes bibliographical references (p. 87-90)."],"dc:description.abstract":["Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. 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."],"dc:description.degree":["M.Eng."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/45650"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission."],"dc:rights.uri":["http://dspace.mit.edu/handle/1721.1/7582"],"dc:subject":["Electrical Engineering and Computer Science."],"dc:title":["Autonomous cooperation of heterogeneous platforms for sea-based search tasks"],"dc:type":["Thesis"]},"updated_at":"2026-07-22T22:21:51Z"}