Coordinating Multiple Autonomies To Improve Mission Performance

Details

• Journal Title:
  OCEANS 2021: San Diego – Porto (IEEE)
• Personal Author:
  Cesar, Conlan ; Defilippo, Michael ; Benjamin, Michael R. ; Whetton, Ben ; Opgenoorth, Patrick ; Munafo, Andrea
• NOAA Program & Office:
  OAR (Oceanic and Atmospheric Research) ; Sea Grant
• Sea Grant Program:
  MIT (MIT Sea Grant)
• Description:
  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 paper, 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 this work, the two autonomy architectures, SeeByte’s Neptune, and MIT’s MOOSIvP, are combined via a shared interface to leverage SeeByte’s mission path-planning and exclusion zone capabilities along with the reactive path execution with obstacle and collision avoidance behaviors of MOOS-IvP. Results are reported from simulation and on-water tests held on the Charles River in Cambridge MA during July 2021. The Neptune/IvP combined system was deployed on MIT’s autonomous Boston Whaler and used to perform a safe crossing in a busy and dynamic environment.
• Source:
  OCEANS 2021: San Diego – Porto, 2021, pp. 1-8
• DOI:
  https://doi.org/10.23919/OCEANS44145.2021.9705967
• Document Type:
  Journal Article
• Funding:
  Grant no. NA18OAR4170105
• Rights Information:
  Accepted Manuscript
• Compliance:
  Submitted
• Main Document Checksum:
  urn:sha256:0664f88a72b91a643512fa88be6b7da2874d547a569bcb2bdf2ffa417a15d788
• Download URL:
  https://repository.library.noaa.gov/view/noaa/41896/noaa_41896_DS1.pdf
• File Type:
  [PDF - 7.67 MB ]