The Swarm and Sailing Toolbox Development Page


The Swarm and Sailing Toolboxes are a collection of MOOS applications, IvP Helm behaviors, utility applications and missions. These modules are currently under development as part of or supporting ongoing projects. The source code is not yet publicly released, but is generally available to involved MIT lab members and collaborators involved in sponsored research.

The common theme is multi-vehicle collaborative autonomy involving decentralized decision-making either through inter-vehicle consensus building, or through collective policies requiring only periodic knowledge of other vehicle locations. Autonomous sailing is being developed in mind to support deployments of large numbers of autonomous sailboats for distributed sensing or water quality monitoring.

Sponsors:

Lockheed Martin (currently). Previously: DARPA, Lockheed, NASA. Core Autonomy: ONR Code 311.

Five Core Focus Areas

(1) Swarm Defense of a High-Value Asset


(2) Vornoi-Based Distributed Sensing


(3) Decentralized Linear Convoying


(3) Decentralized Linear Convoying


(4) Autonomy Competitions


(5) Advanced COLREGS and Automated Evaluation



Software

The software described on this page resides in either the moos-ivp-swarm, moos-ivp-pavlab, or moos-ivp repositories. The latter is public, the two former repositories are currently not public. More info is provided on the software overview page.


mailto:mikerb@mit.edu