Nov 2020 Mini-course


  • mikerb@mit.edu
  • michael.novitzky@westpoint.edu

Schedule


  • Mon 11/30 0830-1200 Lesson 1 Getting Started
  • Tue 12/01 0830-1200 Lesson 2 MOOS Overview
  • Wed 12/02 0830-1200 Lesson 3 IvP Helm Overview
  • Thu 12/03 0930-1300 Lesson 4 Multi-Vehicle Missions
  • Thu 12/03 1400-1600 Lesson 4.5 Project Aquaticus Mechanics and OAI Integration
  • Fri 12/04 0830-1200 Lesson 5 Inter-vehicle comms and Aquaticus Apps
  • Fri 12/04 1300-1500 Lesson 5.5 pLearn an example of machine learning in Project Aquaticus


Lecture 1: Getting Started


An introduction to the MOOS-IvP and Aquaticus, and initial machine setup of the simulation environment.

  • Autonomy beginning with the Sense-Plan-Act Loop
  • An overview of the Aquaticus robot competition
  • Autonomy Architectures for marine robotic platforms
  • Overview of the MOOS Middleware information flow
  • Overview of MOOS-IvP and Payload autonomy
  • Slides of Lecture 1, Video of Lecture 1
  • Lab 1


Lecture 2 MOOS Overview


An detailed discussion of the MOOS middleware and mission construction, launch and monitoring.


Lecture 3 IvP Helm Overview


An introduction to the pHelmIvP behavior-based architecture for autonomy. The focus is on behavior structure in terms of I/O configuration and evolving state during a mission.


Lecture 4 Multi-Vehicle Missions


All missions/apps thus far introduced have involved a single vehicle. Multi-vehicle missions and the apps required for their operation and simulation are introduced.

  • Coordination between vehicles and distinct MOOS communities
  • The pShare MOOS app for inter-DB comms
  • The uField Toolbox for multi-vehicle operations
  • The Berta mission - a multi-vehicle version of the Alpha mission
  • Launching multi-vehicle missions.
  • Mission configuration using templates and plug-ins
  • Lecture 4
  • Lab 4
  • Lecture 4.5 Aquaticus Game Mechanics


Lecture 5 Inter-Vehicle Comms and Aquaticus Apps


Tools for inter-vehicle messaging will be introduced, including message formation, routing and receiving as well as monitoring message traffic and failures. The two key applications of the Aquaticus competition, the Flag manager and the Tag Manager will discussed.

  • Challenges of inter-vehicle comms on field robots
  • The uField Toolbox utilities in MOOS-IvP for inter-vehicle comms
  • Tools for debugging lossy comms missions
  • The Aquaticus Flag and Tag Managers
  • Lecture 5
  • Lab 5