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Talk-04: The IvP Helm and New Features of MOOS-IvP Release 4.2
Mike Benjamin, MIT, Laboratory for Autonomous Marine Sensing Systems (LAMSS), Center for Ocean Engineering
The IvP Helm is a MOOS application implementing a behavior-based architecture for autonomy. The MOOS-IvP project is a collection of MOOS applications including the IvP Helm, but also many tools for preparing, monitoring, analyzing and debugging autonomous missions run with the IvP Helm.
This talk will both introduce the IvP Helm as well as discuss new features in the latest release of MOOS-IvP, scheduled for mid-July 2011. The helm introduction will focus on three motivating themes: platform independence, module independence, and nested capabilities. Each of these themes promotes development from a diverse set of contributors, in a meritocracy of functionality. The helm introduction will include a description of the role of multi-objective optimization in the reconciliation of behavior output, descriptions of example missions, tools used in conjunction with the IvP Helm, and a description of MOOS-IvP as a project with development goals.
The latter part of the talk will describe features new to MOOS-IvP 4.2. This includes new capabilities in the helm for behavior operation using less computational resources - a reflection of recent focus of using MOOS-IvP on low-powered devices. The talk will also include discussion of new MOOS apps in the MOOS-IvP distribution and notable improvements to existing MOOS apps.
DOWNLOAD the brief given at MOOS-DAWG'11.
Categories:
- MOOS-IvP
- IvP Helm Behavior Development
- Autonomy / Collaborative Autonomy