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Introduction to Autonomy for Marine Robots Read chapter Read first chapter

2013 | OriginalPaper | Chapter

2. Autonomy for Unmanned Marine Vehicles with MOOS-IvP

Authors : Michael R. Benjamin, Henrik Schmidt, Paul M. Newman, John J. Leonard

Published in: Marine Robot Autonomy

Publisher: Springer New York

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Abstract

This chapter describes the MOOS-IvP autonomy software for unmanned marine vehicles and its use in large-scale ocean sensing systems. MOOS-IvP is comprised of two open-source software projects. 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 comprised of heterogeneous platform types with varying degrees of communications connectivity, bandwidth, and latency.

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previous chapter Introduction to Autonomy for Marine Robots
next chapter Towards Deliberative Control in Marine Robotics
Footnotes
1
Note that very early versions of MOOS only allowed data to be sent as strings or doubles—but this restriction is now long gone.
 
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Metadata
Title
Autonomy for Unmanned Marine Vehicles with MOOS-IvP
Authors
Michael R. Benjamin
Henrik Schmidt
Paul M. Newman
John J. Leonard
Copyright Year
2013
Publisher
Springer New York
Book
Marine Robot Autonomy

Print ISBN: 978-1-4614-5658-2

Electronic ISBN: 978-1-4614-5659-9

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-1-4614-5659-9_2