A Tour of MOOS-IvP Autonomy Software Modules

Author(s)
Benjamin, Michael R.; Leonard, John J.; Schmidt, Henrik; Newman, Paul M.
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Other Contributors
Robotics, Vision & Sensor Networks
Advisor
John Leonard
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Abstract
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.
Date issued
2009-02-13
URI
http://hdl.handle.net/1721.1/44590
Series/Report no.
MIT-CSAIL-TR-2009-006
Keywords
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
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