Group: MissionManagement


Total Lines of Code: 12,438

Total Files of Code: 58

Total Work Years: 2.69


Group Description: (6 modules)

Responsible for the on-board mission autonomy and command and control, this group of GobyMOOS Applications use a Boost FSM State Machine framework for managing the state transitions and the dynamic behavior configurations for the hierarchical MODE structure of pHelmIvP.

Distribution:

  • lamss.mit.edu

Modules:

  • pLamssMissionManager: State machine application for on-board autonomous mission command and control, responsible for defining the hierarchical MODE state of pHelmIvP, and filling the role of the operator during communication blackouts, emergencies etc.
  • pLamssTrackManager: GobyMOOSapp for managing the onboard autonomous state transitions associated with passive and active acoustic target tracking.
  • BHV_OptAcoustDepth: Behavior for creating depth objective function for optimizing incoherent signal-to-noise ratio (SNR) for an acoustic signal originating at a contact.

  • lib_bellhop: Library of protobuf messages and utilities for requests of raytracing impulse responses in the Virtual Ocean.
  • lib_henrik_util: Library of utility functions used by the LAMSS Nested Autonomy modules, including linear algebra, environmental modeling and signal processing.
  • lib_lamss_protobuf: Configurations of Goby-protobuf messages used for messages transmitted between Goby-MOOS applications through the MOOSDB or via the acoustic modem to and from the operators and collaborators.