UUST Tutorial, Sunday 23 August 2009

             Robot Mission Rehearsal and Replay using the
              Autonomous Unmanned Vehicle (AUV) Workbench

       Don Brutzman and Jeff Weekley, Naval Postgraduate School
         brutzman@nps.edu  https://savage.nps.edu/AuvWorkbench


The NPS Autonomous Unmanned Vehicle (AUV) Workbench supports
physics-based mission rehearsal, real-time task-level control of robot
missions, and replay of recorded results in support of unmanned underwater,
surface and air vehicles. Geographic information system (GIS) layers, a 2D
geographic plot and an X3D visualization capability provide operators with
multiple views and an improved understanding of robot operations.
Extensible 3D (X3D) graphics and other open data standards are used
throughout, implemented using open-source software for maximum
repeatability and usefulness. Software version control, autoinstaller, online
software update capability, bug tracking and an archived mailing list enable
group usage of shared assets.

Attendees are encouraged to bring laptop computers in order to install and
run the AUV Workbench. We will build and rehearse a wide variety of robot
missions, and also examine recent robot-telemetry results for air, surface and
underwater missions. Recent NPS student studies and theses from a large academic
research archive will also be summarized. We will document the development
process for configuring and adding new robot types, both for rehearsal and
replay.  New features include improved mission editing, project archiving
and generation of mission reports.  We will also show how to create an
example mission and apply metadata when analyzing results, use the Savage
X3D model archive, and provide a brief introduction to learning X3D Graphics.
Currently active research endeavors will also be summarized and discussed.
We hope that use of these many capabilities will eventually grow to support
broad sharing of resources and research results among the underwater robot
community.
http://xmsf.svn.sourceforge.net/viewvc/xmsf/trunk/AuvWorkbench/documentation/presentations/NpsAuvWorkbench.UUST.2009August23.ppt