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Talk-03: An Overview of MOOS-IvP Usage at SSCI
Kai-yuh Hsiao, Scientific Solutions Company Inc.
Over the past four years, SSCI has successfully migrated its autonomy software infrastructure to MOOS-IvP. In that time, we have worked on autonomy software for a variety of ground and marine vehicles, in addition to a major collaboration with MIT LAMSS on underwater vehicles. The use of MOOS-IvP has significantly accelerated the effort required to support new platforms, both by simplifying the reuse of software modules between unrelated projects, and also by providing pre-existing modules that can be used immediately in the maritime domain or rapidly repurposed for use on ground vehicle platforms. In this talk, we will provide an overview of the platforms on which we have been using MOOS-IvP, including Bluefin AUVs, Kingfishers, and a Bobcat ground vehicle. We will then present some lessons learned from our experiences interfacing to vendor- and customer-supplied control modules, and a brief survey of the functional modules that we have been reusing between platforms, including mission routines, user interface modules, multi-vehicle collaborative planning, and path planning.
Categories:
- Autonomous Underwater Vehicles (AUVs)
- Autonomous Surface Vehicles (ASVs)
- Bluefin Robotics
- Clearpath Robotics, Kingfisher ASV
- MOOS-IvP
- Collaborative Autonomy