Autonomous cooperation of heterogeneous platforms for sea-based search tasks
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2009
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| Online Access: | http://hdl.handle.net/1721.1/45650 |
| _version_ | 1826206594137849856 |
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| author | Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology |
| author2 | John J. Leonard and Michael R. Benjamin. |
| author_facet | John J. Leonard and Michael R. Benjamin. Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology |
| author_sort | Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology |
| collection | MIT |
| description | Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008. |
| first_indexed | 2024-09-23T13:35:21Z |
| format | Thesis |
| id | mit-1721.1/45650 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:35:21Z |
| publishDate | 2009 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/456502019-04-10T08:21:41Z Autonomous cooperation of heterogeneous platforms for sea-based search tasks Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology John J. Leonard and Michael R. Benjamin. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Includes bibliographical references (p. 87-90). Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission objectives and environmental parameters. Software modules for the autonomy framework MOOS-IvP are described that implement this framework. Simulated and experimental results show that it is feasible to combine both pre-planned and adaptive behaviors to eectively search a target area. by Andrew J. Shafer. M.Eng. 2009-06-25T20:38:09Z 2009-06-25T20:38:09Z 2008 2008 Thesis http://hdl.handle.net/1721.1/45650 402770749 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 90 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Shafer, Andrew J., M. Eng. Massachusetts Institute of Technology Autonomous cooperation of heterogeneous platforms for sea-based search tasks |
| title | Autonomous cooperation of heterogeneous platforms for sea-based search tasks |
| title_full | Autonomous cooperation of heterogeneous platforms for sea-based search tasks |
| title_fullStr | Autonomous cooperation of heterogeneous platforms for sea-based search tasks |
| title_full_unstemmed | Autonomous cooperation of heterogeneous platforms for sea-based search tasks |
| title_short | Autonomous cooperation of heterogeneous platforms for sea-based search tasks |
| title_sort | autonomous cooperation of heterogeneous platforms for sea based search tasks |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/45650 |
| work_keys_str_mv | AT shaferandrewjmengmassachusettsinstituteoftechnology autonomouscooperationofheterogeneousplatformsforseabasedsearchtasks |