Prev-Talk | Next-Talk | All-Talks | Talks-Sorted | MOOS-DAWG'26
Talk-11: MOOS-IvP + Adaptive Control and Multi-Agent Decision-Making
Tyler Paine
MIT Mechanical Engineering, MIT Marine Autonomy Lab
The moos-ivp-multi software suite is a collection of modules for distributed and decentralized decision-making in groups. In this talk, we will discuss the core autonomy algorithms that have broad applicability to many missions. The core capabilities are:
1. Improved emergency collision avoidance with control barrier functions and reachability analysis.
2. Decentralized network graph reconstruction and behaviors to maintain communication networks.
3.Decentralized allocation of a group of targets, or points of interest.
4. Scalable distributed teaming via layered consensus protocols and nonlinear opinion dynamics
Categories:
- Multi-Agent Decision-Making
- Adaptive Control