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.
CITATION STYLE
Benjamin, M. R., Schmidt, H., Newman, P. M., & Leonard, J. J. (2013). Autonomy for unmanned marine vehicles with MOOS-IvP. In Marine Robot Autonomy (Vol. 9781461456599, pp. 47–90). Springer New York. https://doi.org/10.1007/978-1-4614-5659-9_2
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