An Overview of MOOS-IvP and a Users Guide to the IvP Helm - Release 4.2.1
An Overview of MOOS-IvP and a Users Guide to the IvP Helm - Release 4.2.1
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MOOS-IvP 概述和 IvP Helm 用户指南 - 版本 4.2.1
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发表时间：
2011
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通讯作者：
J. Leonard
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作者：
M. Benjamin;Henrik Schmidt;P. Newman;J. Leonard
本文档介绍了 IvP Helm，这是一种用于无人驾驶车辆的基于行为的开源自主应用程序。 IvP 是区间规划的缩写，是一种表示和解决多目标优化问题的技术。当相互竞争车辆的影响时，IvP Helm 中的行为通过多目标优化进行协调。 IvP Helm 是作为 MOOS 应用程序编写的，其中 MOOS 是一组开源发布-订阅自治中间件工具。本文档介绍了 IvP Helm 的配置和使用，提供了简单任务的示例以及有关如何从 www.moos-ivp.org 上的 MOOS-IvP 服务器下载和构建软件的信息。这项工作是马萨诸塞州剑桥麻省理工学院机械工程系和计算机科学与人工智能实验室 (CSAIL) 以及牛津大学移动机器人小组多年合作的成果。合作者联系方式： Michael R. Benjamin 博士 机械工程系 计算机科学与人工智能实验室 马萨诸塞理工学院 mikerb@csail.mit.edu John J. Leonard 教授 教授 机械工程系 计算机科学与人工智能实验室 马萨诸塞理工学院 jleonard@csail.mit.edu Henrik Schmidt 教授 机械工程系 马萨诸塞理工学院 henrik@mit.edu Paul Newman 博士 工程科学系 大学Oxford pnewman@robots.ox.ac.uk 其他合作者为软件和想法的开发和测试做出了巨大贡献，特别是 Joseph Curcio、Toby Schneider、Stephanie Kemna、Arjan Vermeij、Don Eickstedt、Andrew Patrikilakis、Arjuna Balasuriya、David Battle、Christian Convey、Chris Gagner、Andrew Shafer 和 Kevin Cockrell。赞助和公开发布信息：这项工作由海军研究办公室 (ONR) (ONR) 的 Behzad Kamgar-Parsi 博士和 Don Wagner 博士赞助，代码 311。对测试和课程开发的进一步支持由 Battelle、Robert Carnes 博士赞助。
This document describes the IvP Helm an Open Source behavior-based autonomy application for unmanned vehicles. IvP is short for interval programming a technique for representing and solving multi-objective optimizations problems. Behaviors in the IvP Helm are reconciled using multi-objective optimization when in competition with each other for influence of the vehicle. The IvP Helm is written as a MOOS application where MOOS is a set of Open Source publish-subscribe autonomy middleware tools. This document describes the configuration and use of the IvP Helm, provides examples of simple missions and information on how to download and build the software from the MOOS-IvP server at www.moos-ivp.org. This work is the product of a multi-year collaboration between the Department of Mechanical Engineering and the Computer Science and Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology in Cambridge Massachusetts, and the Oxford University Mobile Robotics Group. Points of contact for collaborators: Dr. Michael R. Benjamin Department of Mechanical Engineering Computer Science and Artificial Intelligence Laboratory Massachusetts Intitute of Technology mikerb@csail.mit.edu Prof. John J. Leonard Department of Mechanical Engineering Computer Science and Artificial Intelligence Laboratory Massachusetts Intitute of Technology jleonard@csail.mit.edu Prof. Henrik Schmidt Department of Mechanical Engineering Massachusetts Intitute of Technology henrik@mit.edu Dr. Paul Newman Department of Engineering Science University of Oxford pnewman@robots.ox.ac.uk Other collaborators have contributed greatly to the development and testing of software and ideas within, notably Joseph Curcio, Toby Schneider, Stephanie Kemna, Arjan Vermeij, Don Eickstedt, Andrew Patrikilakis, Arjuna Balasuriya, David Battle, Christian Convey, Chris Gagner, Andrew Shafer, and Kevin Cockrell. Sponsorship, and public release information: This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of the Office of Naval Research (ONR), Code 311. Further support for testing and coursework development sponsored by Battelle, Dr. Robert Carnes.