A Tour of MOOS-IvP Autonomy Software Modules

A Tour of MOOS-IvP Autonomy Software Modules

This paper provides an overview of the MOOS-IvP autonomy software modules. The MOOS-IvP collection of software, i.e., codebase, described here has been developed and is currently maintained by three organizations - Oxford University, Massachusetts Institute of Technology (MIT), and the Naval Underse...

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Bibliographic Details
Main Authors: Benjamin, Michael R., Leonard, John J., Schmidt, Henrik, Newman, Paul M.
Other Authors: John Leonard
Published: 2009
Subjects:
marine vehicles
middleware
autonomous helm
unmanned underwater vehicle
IvP helm
IvP
unmanned surface vehicles
dackseat driver
behaviors
behavior-based
UUV
multi-objective optimization
publish-subscribe
interval programming
USV
Mission Oriented Operating Suite
MOOSDB
MOOS
pHelmIvP
decision making
Online Access:http://hdl.handle.net/1721.1/44590
Description
Summary:This paper provides an overview of the MOOS-IvP autonomy software modules. The MOOS-IvP collection of software, i.e., codebase, described here has been developed and is currently maintained by three organizations - Oxford University, Massachusetts Institute of Technology (MIT), and the Naval Undersea Warfare Center (NUWC) Division Newport Rhode Island. The objective of this paper is to provide a comprehensive list of modules and provide for each (a) a general description of functionality, (b) dependency relationships to other modules, (c) rough order of magnitude in complexity or size, (d) authorship, and (e) current and planned distribution access.

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