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This document describes how to extend the suite of MOOS applications and IvP Helm behaviors distributed with the MOOS-IvP software bundle from www.moos-ivp.org. It covers (a) a straw-man repository with a place-holder MOOS application and IvP Behavior, with a working CMake build structure, (b) a brief overview of the MOOS application class with an example application, (c) an overview of the IvP Behavior class with an example behavior, and (d) the IvPBuild Toolbox for generation of objective functions within behaviors.
