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Autonomy for unmanned marine vehicles with MOOS-IvP
Benjamin, M.R.; Schmidt, H.; Newman, P.M.; Leonard, J.J. (2012). Autonomy for unmanned marine vehicles with MOOS-IvP, in: Seto, M.L. (2013). Marine robot autonomy. pp. 47-90. https://dx.doi.org/10.1007/978-1-4614-5659-9_2
In: Seto, M.L. (2013). Marine robot autonomy. Springer Science+Business Media, Inc: New York. ISBN 978-1-4614-5658-2. 382 pp. https://dx.doi.org/10.1007/978-1-4614-5659-9, more
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Keyword
    Marine/Coastal
Author keywords
    Underwater Vehicle, Decision Space, Underlying Function, Unmanned Vehicle, Capture Radius
Authors  Top 
  • Benjamin, M.R.
  • Schmidt, H.
  • Newman, P.M.
  • Leonard, J.J.
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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