The Clearpath Robotics Heron USV

The Heron is a small unmanned surface vehicle (USV) made by Clearpath Robotics in Waterloo Canada. MIT has eight Herons with one on loan from URI (thanks to Prof. Mingxi Zhou) to make nine. They are the primary teaching platform for MIT 2.680 taught each Spring Term since 2012.

Size:	53.2 x 38.6 x 12.6 in
Weight:	28 kg (62 lbs)
Sensors:	GPS, IMU
Top Speed:	1.9 meters / sec
Battery Life:	1-2 hours depending on misssion/speed
Software:	Front Seat (ROS/Clearpath), Back Seat RasPi MOOS-IvP
Further Info:	https://oceanai.mit.edu/herons
Heron USV Photos:	https://oceanai.mit.edu/media/HeronUSV/album
Current Projects:	https://oceanai.mit.edu/pavlab/proj/swarmbox
	https://oceanai.mit.edu/pavlab/proj/linc
	https://oceanai.mit.edu/pavlab/proj/modestusv
Archive Projects:	https://oceanai.mit.edu/pavlab/proj/seatrain
	https://oceanai.mit.edu/pavlab/proj/iitchs
Recent Events:	https://oceanai.mit.edu/media/Aug3121-SeaTrain/album
	https://oceanai.mit.edu/media/Oct1821-SeaTrainTests/album

Recent Publications

Current Projects

MIT 2.680 [top]

The Herons are the lab vehicles for MIT 2.680 Marine Autonomy, Sensing and Communications.

https://oceanai.mit.edu/2.680.

DARPA Sea Train [top]

The Herons are test platforms for the MIT team involved in the DARPA TTO Sea Train project. Field tests are comprised of four-vehicle convoying missions with algorithms for mustering and convoying tested with Herons.

https://oceanai.mit.edu/pavlab/seatrain.

Project: IITCHS [top]

In a collaboration with MIT Lincoln Laboratory, the Herons are used for field testing multi-vehicle mission planning software using the MIT-LL IITCHS planning software and MIT's MOOS-IvP autonomy software.

https://oceanai.mit.edu/pavlab/iitchs.

Document Maintained by: mikerb@mit.edu
Page built from LaTeX source using texwiki, developed at MIT. Errata to issues@moos-ivp.org. Get PDF