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Talk-19: Project Aquaticus Testbed: Latest Progress, Developments, and Analysis Tools in Manned-Unmanned Teaming with MOOS-IvP

Michael Novitzky, Paul Robinette, Michael Benjamin, MIT

Our Project Aquaticus testbed has been designed for manned-unmanned teaming with humans and robots on the water.  Project Aquaticus creates a stressful environment for participants while they operate their own motorized kayaks based on interactions with the water, wind, temperature, and other vehicles. Their autonomous robot teammates are Clearpath Heron M300s powered by MOOS-IvP and interactions are conducted over audio.  It becomes challenging for participants because we have them play games of capture the flag while on the water.  Our nominal team consists of two humans and two autonomous robots against a similarly situated team.  Our system captures vehicle location and game status information.  For the autonomous robot vehicles, we also log their internal IvP Helm decision making.  While we cannot get detailed information on the human participant decision making process, we do record observation data for analysis.  The participant data includes all of the incoming and outgoing audio, video of the participant, along with heart rate.  We have previously presented on our Project Aquaticus testbed and publicly available datasets collected during the summer of 2018. In this presentation, we describe the multi-media capture tools and post-mission analysis tools available for collaborators and researchers.  We will also present and describe some of the analysis that has been accomplished using these tools.


  • Human-Robot Teaming
  • Aquaticus
  • USVs