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Laboratory for Autonomous Marine Sensing Systems
Massachusetts Institute of Technology
Massachusetts Institute of Technology
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MIT, Laboratory for Autonomous Marine Sensing Systems
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!!! Tutorial: MOOS-IvP Simulation Environment and Configuration Management
!!!! Prof. Henrik Schmidt \\
Laboratory for Autonomous Marine Sensing Systems
Massachusetts Institute of Technology
''Abstract'': \\
One of the major requirements for a succesful field deployment of autonomous vehicles is a
robust and reliable simulation testbed. However, equally critical is a configuration
management infrastructure which ensures a flawless and transparent transition of a succesfully
tested autonomy system to a vehicle in an actual field deployment.
The MIT Laboratory for
Autonomous Marine Sensing Systems (LAMSS) has developed a comprehensive simulation environment for hetrerogeneous networks with autonomous underwater vehicles, surface craft and gliders operating MOOS-IvP payload autonomy systems. The virtual environment allows for simulation at
different levels of fidelity of relevant undersea sensors, communication networking, and
platform dynamics. The MOOS-IvP tool set incorporates a set of utilities supporting a robust
configuration management infrastructure, which allows for easy modification of mission and
behavior parameters, while ensuring that mission configuration is successfully transitioned to
a vehicle in the field. Thus, the configuration management system ensures that the entire
autonomy system configuration is transitioned to an operational vehicle, with only the
interfaces to the outside world being completely or partially replaced by physics-based
simulations of the environment, the platform and sensor dynamics, and the communication
infrastructure.
The transparent transition is ensured by the simulators adhering to exactly
the same ICDs as thy actual sensor and communication systems. This in turn allows for an
incremental transition from simulation to operation, e.g. operating virtual sensing nodes
within an actual undersea communication network for safe testing of new adaptive and
collaborative maneuvers. This tutorial will describe the MIT-LAMSS simulation environment,
with its suite of environmental acoustic simulators, and it's use for designing and executing
an actual virtual experiment will be demonstrated in real time.
!!!! Prof. Henrik Schmidt \\
Laboratory for Autonomous Marine Sensing Systems
Massachusetts Institute of Technology
''Abstract'': \\
One of the major requirements for a succesful field deployment of autonomous vehicles is a
robust and reliable simulation testbed. However, equally critical is a configuration
management infrastructure which ensures a flawless and transparent transition of a succesfully
tested autonomy system to a vehicle in an actual field deployment.
The MIT Laboratory for
Autonomous Marine Sensing Systems (LAMSS) has developed a comprehensive simulation environment for hetrerogeneous networks with autonomous underwater vehicles, surface craft and gliders operating MOOS-IvP payload autonomy systems. The virtual environment allows for simulation at
different levels of fidelity of relevant undersea sensors, communication networking, and
platform dynamics. The MOOS-IvP tool set incorporates a set of utilities supporting a robust
configuration management infrastructure, which allows for easy modification of mission and
behavior parameters, while ensuring that mission configuration is successfully transitioned to
a vehicle in the field. Thus, the configuration management system ensures that the entire
autonomy system configuration is transitioned to an operational vehicle, with only the
interfaces to the outside world being completely or partially replaced by physics-based
simulations of the environment, the platform and sensor dynamics, and the communication
infrastructure.
The transparent transition is ensured by the simulators adhering to exactly
the same ICDs as thy actual sensor and communication systems. This in turn allows for an
incremental transition from simulation to operation, e.g. operating virtual sensing nodes
within an actual undersea communication network for safe testing of new adaptive and
collaborative maneuvers. This tutorial will describe the MIT-LAMSS simulation environment,
with its suite of environmental acoustic simulators, and it's use for designing and executing
an actual virtual experiment will be demonstrated in real time.