“Mission Oriented Operating Suite”-“Interval Programming” is a open source C++ autonomy framework for marine autonomous vehicles.
MOOS is a lightweight middleware: independent programs exchange data through a centrale message server (MOOSDB).
IvP Helm is the autonomy engine, which combines multiple objectives (BHV: behaviors).
Architecture philosophy used:
- backseat driver paradigm: vehicle control and vehicle autonomy are separated: the autonomy module runs on a separate payload computer (also called mission controller - vehicle controller paradigm). Exactly how the vehicle navigates and implements control is largely unspecified to the autonomy system running in the payload.
- publish and subscribe autonomy middleware: MOOS applications communicate with each other through the MOOSDB in a star topology.
- behavior based autonomy: the IvP Helm is a single MOOS application with distinct software modules called BHV (behaviors) that can be described as self-contained mini expert systems dedicated to a particular aspect of overall vehicle autonomy. When multiple BHV compete for influence over the vehicle the IvP solver is used to reconcile the behaviors.