"MOOS-IvP is a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles.
The MOOS-IvP project is an open-source project designed and developed in this context. It is an implementation of an autonomous helm and substantial support applications that aims to provide a capable autonomy system out of the box. It also has an architecture, software policy, documentation, and support network that allows this newer generation of scientists, with newer vehicles and mission ambitions, to be nimble to build innovative autonomy algorithms to augment an existing set of capabilities. This paper describes the MOOS-IvP autonomy architecture and software structure and describes how groups of vehicles, each with different sensors, processing power, and communications capabilities, may be combined to form a nested autonomy architecture with identical core autonomy software running on each platform.
MOOS-IvP is composed of two distinct open-source software projects. The Mission Oriented Operating Suite (MOOS) is a product of the Mobile Robotics Group at the University of Oxford and provides core middleware capabilities in a publish–subscribe architecture, as well as several applications ubiquitous in unmanned marine robotic and land robotic applications using MOOS. Additional MOOS applications, including the IvP Helm, are availablein the MOOS-IvP project. IvP stands for Interval Programming and refers to the multiobjective optimization method used by the IvP Helm for arbitrating between competing behaviors in its behavior-based architecture."
http://oceanai.mit.edu/moos-ivp/pmwiki/pmwiki.php
http://oceanai.mit.edu/moos-ivp/pmwiki/pmwiki.php?n=Site.Download
https://sites.google.com/site/moossoftware/
http://oceanai.mit.edu/mikerb/publications/bsnl10.pdf
http://lamss.mit.edu/lamss/pmwiki/pmwiki.php
http://www.gtrirobolab.gtri.gatech.edu/index.php/an-introduction-to-moos/
https://github.com/ENSTABretagneRobotics/moos-ivp-enstabretagne
https://confluence.oceanobservatories.org/download/attachments/17367042/moosivp-tour.pdf
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