Prev-Talk | Next-Talk | All-Talks | Talks-Sorted
Talk-24: Writing Behaviors for the IvP Helm - Basic Overview and Summary of Recently Available Tools
Mike Benjamin, MIT, Laboratory for Autonomous Marine Sensing Systems (LAMSS), Center for Ocean Engineering
The IvP Helm is a behavior-based architecture with a number of freely available general purpose marine autonomy behaviors. These behaviors have been field-tested on many platforms involved in a variety of marine autonomy projects. The core utility of the Helm is derived from both (a) the functionality of these existing freely available behaviors, and (b) the openness of the architecture to additional behaviors by domain experts interested in extending the Helm in new areas. This is particularly true for domain experts with unique knowledge of new sensors and how to influence the vehicle's motion to exploit those sensors.
New IvP Helm behaviors may be added by third-party users without modification or re-compiling of the core Helm software. Behavior authors have a few ways to ease the process of developing a new behavior. First there is access to the source code of existing proven behaviors to build new behaviors with a modified capability. Second there is the IvP Behavior superclass which provides a behavior template and built-in member functions to facilitate new behavior development. Finally there is the IvPBuild Toolbox containing a number of utilities for behavior authors to produce IvP objective functions, the primary output of IvP Helm behaviors.
This talk provides an overview of these resources for building new behaviors, as well as a summary of recent and planned changes to the IvP Behavior interface providing behavior authors with more implementation options.
DOWNLOAD the brief given at MOOS-DAWG'11.
Categories:
- MOOS-IvP
- IvP Helm Behavior Development