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Talk-17: MOOS-IvP Release 26.7 - What's New and Planned Development
Michael Benjamin
MIT Dept of Mechanical Engineering, Marine Autonomy Lab
This talk will provide a very brief overview of the MOOS-IvP project for newcomers, followed by a fairly detailed description of key additions to the Version 26.7 release of MOOS-IvP. These include:
- Augmentation of the Helm to include Platform Model representations to enable motion evaluaton behaviors to better evaluate candidate maneuvers based on more accurate assumption of vehicle turning capability given requested heading changes at given speeds.
- Several augmentations to the helm, contact manager, and contact manager to enable external, e.g., user, adjustment of filters for objects and contact of certain types or sources.
- New thin tools, pAutoPoke and uMayFinish, for aiding in the automation of headless Monte Carlo or validation missions.
- A defacto standard mission launch structure for exemplar missions and validation missions, with support for human-driven simulations, headless simulations, and options for in-water launches. Scripting tools added for generation of compliant missions and checking missions for compliance.
- Upcoming migration of MOOS-IvP repo to be closely aligned with upstream MOOS repo, support for Debian packaging.
- Upcoming integration of over-the-horizon path planning to complement reactive obstacle avoidance.
Categories:
- MOOS-IvP