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| en:safeav:as:applicationdomains [2025/10/17 09:34] – [Marine Vehicle Architectures] agrisnik | en:safeav:as:applicationdomains [2025/10/28 16:01] (current) – raivo.sell | ||
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| ===== Marine Vehicle Architectures ===== | ===== Marine Vehicle Architectures ===== | ||
| - | Marine autonomous vehicles operate in harsh, unpredictable environments characterised by communication latency, limited GPS access, and energy constraints. They include AUVs (Autonomous Underwater Vehicles), ASVs (Autonomous Surface Vehicles) and ROVs (Remotely Operated Vehicles). These vehicles rely heavily on acoustic communication and inertial navigation, requiring architectures that can operate autonomously for long durations without human intervention ((Benjamin, M. R., Curcio, J. A., & Leonard, J. J. (2012). MOOS-IvP autonomy software for marine robots. Journal of Field Robotics, 29(6), 821–835)). | + | Marine autonomous vehicles operate in harsh, unpredictable environments characterised by communication latency, limited GPS access, and energy constraints. They include AUVs (Autonomous Underwater Vehicles), ASVs (Autonomous Surface Vehicles) and ROVs (Remotely Operated Vehicles). These vehicles rely heavily on acoustic communication and inertial navigation, requiring architectures that can operate autonomously for long durations without human intervention ([(Benjamin12)]. |
| <figure Marine Vehicle Architecture | <figure Marine Vehicle Architecture | ||
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| - | The reference architecture is based on the MOOS (Mission-Oriented Operating Suite) IvP architecture discussed previously. It provides interprocess communication and logging, while IvP Helm enables a decision-making engine using behaviour-based optimisation via IvP functions. The architecture supports distributed coordination (multi-vehicle missions) and robust low-bandwidth communication ((Benjamin, M. R., Curcio, J. A., & Leonard, J. J. (2012). MOOS-IvP autonomy software for marine robots. Journal of Field Robotics, 29(6), 821–835.)). The architecture is extensively used in NATO CMRE and MIT Marine Robotics research ((Curcio, J. A., Leonard, J. J., & Patrikalakis, | + | The reference architecture is based on the MOOS (Mission-Oriented Operating Suite) IvP architecture discussed previously. It provides interprocess communication and logging, while IvP Helm enables a decision-making engine using behaviour-based optimisation via IvP functions. The architecture supports distributed coordination (multi-vehicle missions) and robust low-bandwidth communication ([(Benjamin12)]. The architecture is extensively used in NATO CMRE and MIT Marine Robotics research ((Curcio, J. A., Leonard, J. J., & Patrikalakis, |
| ===== Comparative Analysis Across Domains ===== | ===== Comparative Analysis Across Domains ===== | ||
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| An important trend in recent years is the convergence of architectures across domains. Unified software platforms (e.g., ROS 2, DDS) now allow interoperability between aerial, ground, and marine systems, enabling multi-domain missions such as coordinated search-and-rescue (SAR) operations. The integration of AI, edge computing, and cloud-based digital twins has blurred domain boundaries, giving rise to heterogeneous fleets of autonomous agents working collaboratively. Aerial systems look after stability, lightweight real-time control, and airspace compliance; open stacks like PX4/ | An important trend in recent years is the convergence of architectures across domains. Unified software platforms (e.g., ROS 2, DDS) now allow interoperability between aerial, ground, and marine systems, enabling multi-domain missions such as coordinated search-and-rescue (SAR) operations. The integration of AI, edge computing, and cloud-based digital twins has blurred domain boundaries, giving rise to heterogeneous fleets of autonomous agents working collaboratively. Aerial systems look after stability, lightweight real-time control, and airspace compliance; open stacks like PX4/ | ||
| Summarising, | Summarising, | ||
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