Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles
Thesis: Nav. E., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2020
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/1721.1/127047 |
| _version_ | 1826214041145573376 |
|---|---|
| author | Stanfield, Brian(Brian Asunuma) |
| author2 | Michael Benjamin. |
| author_facet | Michael Benjamin. Stanfield, Brian(Brian Asunuma) |
| author_sort | Stanfield, Brian(Brian Asunuma) |
| collection | MIT |
| description | Thesis: Nav. E., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020 |
| first_indexed | 2024-09-23T15:58:34Z |
| format | Thesis |
| id | mit-1721.1/127047 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:58:34Z |
| publishDate | 2020 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1270472020-09-04T03:04:40Z Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles Stanfield, Brian(Brian Asunuma) Michael Benjamin. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering Mechanical Engineering. Thesis: Nav. E., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020 Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020 Cataloged from the official PDF of thesis. Includes bibliographical references (pages 53-54). This research studies techniques that can be applied to practical multi-task multi-vessel marine applications to manage mission planning for autonomous surface vehicles (ASVs). This thesis investigated the use of a decentralized Consensus Based Auction Algorithm (CBAA) for marine autonomous vehicles while incorporating contact management and marine vehicular dynamics [1]. CBAA is a task allocation system that does not require a central agency. The task investigated in this thesis is to transit to a waypoint in a dynamic environment, including other moving vessels to avoid. To reach the goal of this thesis, this methodology is implemented to assign a value to an auction bid given the contact environment and vehicle dynamics. The Mission Oriented Operating Suite with Interval Programming (MOOS-IvP) was utilized to demonstrate this capability and finally, this work provides an analysis of MOOS-IvP simulated data runs utilizing contact management and vehicular dynamics. by Brian Stanfield. Nav. E. S.M. Nav.E. Massachusetts Institute of Technology, Department of Mechanical Engineering S.M. Massachusetts Institute of Technology, Department of Mechanical Engineering 2020-09-03T17:44:00Z 2020-09-03T17:44:00Z 2020 2020 Thesis https://hdl.handle.net/1721.1/127047 1191715964 eng MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided. http://dspace.mit.edu/handle/1721.1/7582 54 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Stanfield, Brian(Brian Asunuma) Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| title | Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| title_full | Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| title_fullStr | Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| title_full_unstemmed | Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| title_short | Incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| title_sort | incorporating contact management and marine dynamics in decentralized auction bidding for autonomous surface vehicles |
| topic | Mechanical Engineering. |
| url | https://hdl.handle.net/1721.1/127047 |
| work_keys_str_mv | AT stanfieldbrianbrianasunuma incorporatingcontactmanagementandmarinedynamicsindecentralizedauctionbiddingforautonomoussurfacevehicles |