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\wikidoc{file=Proj.SeeByte}
\wikidoc{auth=mikerb@mit.edu}

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\section*{Multi-Architecture Autonomy (MOOS-IvP and Neptune)}
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Research in marine autonomy has traditionally involved development
around a single autonomy architecture. Even when an architecture is
open and modular, modules are typically all integrated into a single
architecture. In this joint project Seebyte, an approach is considered
that couples two distinct and mature architectures into a single
combined autonomy system that leverages the strengths of both singular
architectures to produce a more complete and capable system. In the
first phase, the two autonomy architectures, SeeByte's Neptune, and
MIT's MOOSIvP, are combined via a shared interface to leverage
SeeByteâ€™s mission path-planning and exclusion zone capabilities along
with the reactive path execution with obstacle and collision avoidance
behaviors of MOOS-IvP. Results from simulation were replicated with
on-water tests held on the Charles River in Cambridge MA during July
2021. The Neptune/IvP combined system was deployed on MITâ€™s autonomous
Boston Whaler and used to perform a safe crossing in a busy and
dynamic environment.

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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status}: &amp; Ongoing since Sept 2019 \\ \hline
  \var{Sponsor(s)}: &amp; ONR Code 32 / SeeByte, Ltd \\ \hline
  \var{People}: &amp; Mike Benjamin (PI), Mike DeFilippo, Conlan Cesar \\ \hline
  \var{Robots}: &amp;  \urlx{https://oceanai.mit.edu/pavlab/philos} \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, MOOS-IvP-Pavlab codebase \\ \hline
  \var{Photos:} &amp; \urlx{https://oceanai.mit.edu/media/Jul2721-MIT-NeptuneTests/album} \\ \hline
\end{longtable}
\normalsize


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\section*{Recent Publications}

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