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  • MOOS-IvP

    Nested Autonomy Prototype for

    Distributed Undersea Sensing

    Users Guide

    H. Schmidt, M.R. Benjamin, A. Balasuriya, D. Battle, T. Schneider, and K.Cockrell

    Laboratory for Autonomous Marine Sensing

    Department Mechanical Engineering

    Massachusetts Institute of Technology, Cambridge MA

  • January 12, 2009

    Abstract

    This paper provides an introductory description and Users Guide for the MIT MOOS-IvPUndersea Autonomous Network Architecture, based on the Nested Autonomy paradigm, asimplemented and operated on the fleet of Bluefin21 autonomous Underwater vehicles appliedby the Laboratry for Autonomous Marine sensing for research and development into distributedacoustic sensing in the ocean.

    2

  • Contents

    I Introduction 10

    1 Overview 101.1 Purpose and Scope of this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . 101.2 Distributed Undersea Sensing and Observation . . . . . . . . . . . . . . . . . . . . . 10

    II Nested Autonomy Paradigm for Distributed Undersea Sensing 11

    2 Autonomy in Communication-Challenged Environments 11

    3 Nested Autonomy for Ocean Observation Systems 14

    4 Concept of Operations 164.1 Field-level CONOPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164.2 Cluster-level CONOPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.3 Node-level CONOPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

    5 Cluster Autonomy System 20

    6 Platform Autonomy System 216.1 The MOOS-IvP Autonomy Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . 216.2 The Back-Seat Driver Paradigm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216.3 Communication Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226.4 Autonomy States and State-Transitions . . . . . . . . . . . . . . . . . . . . . . . . . 246.5 On-board, Real-time Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . 266.6 MOOS-IvP Simulation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

    III MIT-LAMS Nested Autonomy Prototype 28

    7 MOOS-IvP Nested Autonomy Architecture 287.1 Sonar AUV MOOS Community . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

    IV IvP-Helm Autonomy for Undersea Sensing 32

    8 Mission Planning and Control 32

    9 Hierarchial State Representation 329.1 MOOS-IvP State Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329.2 Mission Terminating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349.3 Deploy States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

    9.3.1 Loiter Sub-States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

    3

  • 9.3.2 Racetrack Sub-State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379.3.3 ZigZag Sub-state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389.3.4 Trail Sub-state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

    9.4 Prosecute States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409.4.1 Search Sub-State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419.4.2 Ambiguous Sub-State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439.4.3 Tracking Sub-State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449.4.4 Classification Sub-State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

    10 Cluster Autonomy Behaviors 4710.1 BHV Attractor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

    10.1.1 MOOS variables subscribed to by BHV Attractor: . . . . . . . . . . . . . . . 4810.1.2 MOOS variables published by BHV Attractor: . . . . . . . . . . . . . . . . . 49

    10.2 BHV RubberBand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4910.2.1 MOOS variables subscribed to by BHV RubberBand: . . . . . . . . . . . . . 5010.2.2 MOOS variables published by BHV RubberBand: . . . . . . . . . . . . . . . 50

    11 Undersea Adaptive Sensing Behaviors 5111.1 BHV HArrayTurn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

    11.1.1 MOOS variables subscribed to by BHV HArrayTurn: . . . . . . . . . . . . . . 5111.1.2 MOOS variables published by BHV HArrayTurn: . . . . . . . . . . . . . . . . 51

    11.2 BHV HArrayAngle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5111.2.1 MOOS variables subscribed to by BHV HArrayAngle: . . . . . . . . . . . . . 5211.2.2 MOOS variables published by BHV HArrayAngle: . . . . . . . . . . . . . . . 52

    11.3 BHV SmartYoyo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5211.3.1 MOOS variables subscribed to by BHV SmartYoyo: . . . . . . . . . . . . . . 5411.3.2 MOOS variables published by BHV SmartYoyo: . . . . . . . . . . . . . . . . 54

    11.4 BHV ZigZag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5411.4.1 MOOS variables subscribed to by BHV ZigZag: . . . . . . . . . . . . . . . . . 5511.4.2 MOOS variables published by BHV ZigZag: . . . . . . . . . . . . . . . . . . . 55

    11.5 BHV RaceTrack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5511.5.1 MOOS variables subscribed to by BHV RaceTrack: . . . . . . . . . . . . . . . 5611.5.2 MOOS variables published by BHV RaceTrack: . . . . . . . . . . . . . . . . . 57

    V Autonomous Communication, Command and Control 58

    12 MOOS-IvP Communication, Command and Control 5812.1 Node Level Command and Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5912.2 Cluster Level Command and Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 5912.3 Field Level Command and Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

    13 Communication, Command and Control Modules 6413.1 pNaFCon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

    13.1.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6413.1.2 Parameters for the pNaFCon Configuration Block . . . . . . . . . . . . . . . 64

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  • 13.1.3 MOOS variables subscribed to by pNaFcon: . . . . . . . . . . . . . . . . . . . 6513.1.4 MOOS variables published by pNaFCon: . . . . . . . . . . . . . . . . . . . . 65

    13.2 pMessageSim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6713.2.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6713.2.2 Parameters for the pMessageSim Configuration Block . . . . . . . . . . . . . 6713.2.3 MOOS variables subscribed to by pMessageSim: . . . . . . . . . . . . . . . . 6913.2.4 MOOS variables published by pMessageSim: . . . . . . . . . . . . . . . . . . 69

    13.3 pSearch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7013.3.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7013.3.2 Parameters for the pSearch Configuration Block . . . . . . . . . . . . . . . . 7013.3.3 MOOS variables subscribed to by pSearch: . . . . . . . . . . . . . . . . . . . 7013.3.4 MOOS variables published by pSearch: . . . . . . . . . . . . . . . . . . . . . . 71

    13.4 pTrackQuality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7213.4.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7213.4.2 Parameters for the pTrackQuality Configuration Block . . . . . . . . . . . . . 7213.4.3 MOOS variables subscribed to by pTrackQuality: . . . . . . . . . . . . . . . . 7313.4.4 MOOS variables published by pTrackQuality: . . . . . . . . . . . . . . . . . . 75

    13.5 pTargetOpportunity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7613.5.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7613.5.2 Parameters for the pTargetOpportunity Configuration Block . . . . . . . . . 7613.5.3 MOOS variables subscribed to by pTargetOpportunity: . . . . . . . . . . . . 7713.5.4 MOOS variables published by pTargetOpportunity: . . . . . . . . . . . . . . 77

    13.6 pClusterPriority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7813.6.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7813.6.2 Parameters for the pClusterPriority Configuration Block . . . . . . . . . . . . 7813.6.3 MOOS variables subscribed to by pClusterPriority: . . . . . . . . . . . . . . . 7813.6.4 MOOS variables published by pClusterPriority: . . . . . . . . . . . . . . . . . 79

    13.7 pHuxley . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8013.7.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8013.7.2 Parameters for the pHuxley Configuration Block . . . . . . . . . . . . . . . . 8013.7.3 MOOS variables subscribed to by pHuxley: . . . . . . . . . . . . . . . . . . . 8013.7.4 MOOS variables published by pHuxley: . . . . . . . . . . . . . . . . . . . . . 80

    13.8 pGeneralCodec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8113.8.1 Brief Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8113.8.2 Parameters for the pGeneralCodec Configuration Block . . . . . . . . . . . . 8213.8.3 MOOS variables subscribed to by pGeneralCodec: . . . . . . . . . . . . . . . 8213.8.4 MOOS variables published by pGeneralCodec: . . . . . . . . . . . . . . . . . 8313.8.5 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8313.8.6 Details . . . . . . . . . . . . . . .