2. Autonomy for Unmanned Marine Vehicles with MOOS-IvP

This chapter describes the MOOS-IvP autonomy software for unmanned marine vehicles and its use in large-scale ocean sensing systems. MOOS-IvP is comprised of two open-source software projects. MOOS provides a core autonomy middleware capability and the MOOS project additionally provides a set of ubiquitous infrastructure utilities. The IvP Helm is the primary component of an additional set of capabilities implemented to form a full marine autonomy suite known as MOOS-IvP. This software and architecture are platform and mission agnostic and allow for a scalable nesting of unmanned vehicle nodes to form large-scale, long-endurance ocean sensing systems comprised of heterogeneous platform types with varying degrees of communications connectivity, bandwidth, and latency.