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Talk-29: Integrating Mission Planning and Execution with MOOS-IvP
Cristiano Caissutti [1] (cristiano.caissutti@phd.unipi.it)
Andrea Munafò [1] (andrea.munafo@unipi.it)
Gabriele Ferri [2] (gabriele.ferri@cmre.nato.int)
[1] Dept. of Information Engineering, University of Pisa and Integrated Systems for Marine Environment (ISME), Pisa, Italy
[2] NATO Science & Technology Organization Centre for Maritime Research and Experimentation (CMRE) , La Spezia, Italy
This talk presents an initial effort to integrate a Probabilistic PDDL (PPDDL) Mission Planning and Execution framework with the MOOS-IvP autonomy architecture. The proposed approach introduces a mission-level decision layer that generates and supervises mission plans while relying on MOOS-IvP for behavior coordination, navigation, guidance, and vehicle control. A key design principle is the separation between mission-level decision-making and behavioral autonomy.
The integration is implemented as a MOOS application interfacing with the autonomy system through MOOSDB messaging and the IvP Helm. Mission descriptions are transformed into executable policies that can be monitored during execution and replanned when mission conditions change, while maintaining compatibility with IvP behaviors.
The presentation focuses on the interfaces between the planning and execution framework and MOOS-IvP, discussing the design choices required to support mission supervision and replanning within a behavior-based autonomy system. Current limitations and future developments toward multi-vehicle mission coordination will also be discussed.
Categories:
- USVs
- Commercial Marine Vehicles