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Talk-32: Logging for Days Long Autonomous Missions

Mohamed Saad Ibn Seddik, BlkSail

One could argue that, for autonomy, logging is as crucial as decision making or perception. The data collected during operations help analyze behaviors, find bugs, report errors, or prove the success of a mission. During simulation, logging can be used to compare results and showcase improvement in the algorithm and development progress. MOOS, through tools like pLogger, alogview, and uPlayback, allows to log, analyze, and replay missions. However, MOOS primitive types, doubles and strings, are logged in ASCII and therefore, for long duration missions, file sizes can grow to tens of gigabytes. In this talk, we explore ways to log MOOS data to allow for extended periods of operations and other nice-to-haves.


  • Logging
  • Long Duration Missions