Nested Autonomy for Unmanned Marine Vehicles with MOOS-IvP

Journal article

This document describes the MOOS-IvP autonomy software for unmannedmarine vehicles and its use in largescale ocean sensing systems. MOOS-IvP is composed of two open-source software projects funded by the Office of Naval Research. MOOS provides a core autonomy middleware capability, and the MOOS project additionally provides a set of ubiquitous infrastructure utilities. The IvP Helm is the primary component of an additional set of capabilities implemented to form a full marine autonomy suite known as MOOS-IvP. This software and architecture are platform and mission agnostic and allow for a scalable nesting of unmanned vehicle nodes to form large-scale, long-endurance ocean sensing systems composed of heterogeneous platform types with varying degrees of communications connectivity, bandwidth, and latency. © 2010 Wiley Periodicals, Inc.

Authors: Benjamin, MR; Schmidt, H; Newman, P; Leonard, J

• Publication status: Published
• Journal: JOURNAL OF FIELD ROBOTICS
• Volume: 27
• Issue: 6
• Pages: 834-875
• Publication date: 2010-01-01
• DOI: 10.1002/rob.20370
• EISSN: 1556-4967
• ISSN: 1556-4959
• Language: English