The NOAA IR serves as an archival repository of NOAA-published products including scientific findings, journal articles, guidelines, recommendations, or other information authored or co-authored by NOAA or funded partners.
As a repository, the NOAA IR retains documents in their original published format to ensure public access to scientific information.
i
Coordinating Multiple Autonomies To Improve Mission Performance
-
2022
-
-
Source: OCEANS 2021: San Diego – Porto, 2021, pp. 1-8
[PDF-7.67 MB]
Details:
-
Journal Title:OCEANS 2021: San Diego – Porto (IEEE)
-
Personal Author:
-
NOAA Program & Office:
-
Sea Grant Program:
-
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:
-
Document Type:
-
Funding:
-
Rights Information:Accepted Manuscript
-
Compliance:Submitted
-
Main Document Checksum:
-
Download URL:
-
File Type:
