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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.
