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Multi-Architecture Autonomy (MOOS-IvP and Neptune)


Research in marine autonomy has traditionally involved development around a single autonomy architecture. Even when an architecture is open and modular, modules are typically all integrated into a single architecture. In this joint project Seebyte, an approach is considered that couples two distinct and mature architectures into a single combined autonomy system that leverages the strengths of both singular architectures to produce a more complete and capable system. In the first phase, the two autonomy architectures, SeeByte's Neptune, and MIT's MOOSIvP, are combined via a shared interface to leverage SeeByte’s mission path-planning and exclusion zone capabilities along with the reactive path execution with obstacle and collision avoidance behaviors of MOOS-IvP. Results from simulation were replicated with on-water tests held on the Charles River in Cambridge MA during July 2021. The Neptune/IvP combined system was deployed on MIT’s autonomous Boston Whaler and used to perform a safe crossing in a busy and dynamic environment.

Status:Ongoing since Sept 2019
Sponsor(s):ONR Code 32 / SeeByte, Ltd
People:Mike Benjamin (PI), Mike DeFilippo, Conlan Cesar
Robots:https://oceanai.mit.edu/pavlab/philos
Software:MOOS-IvP public codebase, MOOS-IvP-Pavlab codebase
Photos:https://oceanai.mit.edu/media/Jul2721-MIT-NeptuneTests/album

Recent Publications


2021 (1 item)

  1. Conlan Cesar, Benjamin Whetton, Michael DeFilippo, Michael Benjamin, Michael Sacarny, Scott Reed, Andrea Munafo, Coordinating Multiple Autonomies to Improve Mission Performance, OCEANS 2021 MTS/IEEE, October, 2021. (bibtex)

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