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.
- Nested Software concept
- MOOS Messaging
- Launching MOOS Apps in a single mission
- Scoping and Poking running MOOS system
- Data logging and post-mission analysis
- Slides of Lecture 2, Video of Lecture 2
- Lab 2
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.
- Introduction to the IvP Helm
- Behavior structure in terms of info input and behavior output
- Configuring behaviors in a mission
- Behavior conditions and helm mode
- Behavior states and operation in each state
- Behavior flags and their role in autonomy and updates
- Slides of Lecture 3, Video of Lecture 3
- Lab 3, Video of Lab 3 Discussion
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.