An Overview of MOOS-IvP and a Users Guide to

the IvP Helm - Release 17.7

MIT 2.680 Unmanned Marine Vehicle Autonomy, Sensing and Communications

July 2017

Michael Benjamin, mikerb@mit.edu
Henrik Schmidt, henrik@mit.edu
Paul Newman, pnewman@robots.ox.ac.uk
Department of Mechanical Engineering
MIT, Cambridge MA 02139


From Top Left to Bottom Right: (1) the Bluefin 21-inch UUV - the first UUV to run MOOS-IvP, (2) the Bluefin-9 UUV, (3) SeaRobotics USV-2600 fielded by Defence Research and Development Canada (DRDC) in the Arctic Ocean, (4) Autonomous Kayaks by Robotic Marine Systems - the first vehicle to run MOOS-IvP, (5) Ocean Server Iver2 UUV, (6) Ocean Explorer UUV deployed by NATO Undersea Research Centre (NURC), now the Center for Maritime Research and Experimentation (CMRE), (7) Kingfisher M100 by Clearpath Robotics, (8) Kingfisher M200 by Clearpath Robotics, (9) REMUS-100 by Hydroid, (10) h-Scientific USV deployed by NATO Undersea Research Centre (NURC), now the Center for Maritime Research and Experimentation (CMRE), (11) MIT Hover Research USV (12) Folaga Hybrid UUV deployed by NATO Undersea Research Centre (NURC), now the Center for Maritime Research and Experimentation (CMRE), (13) The Datamaran autonomous sailboat by Autonomous Maritime Systems (14) The MIT WAM-V USV winner of the 2014 RobotX Competition, (15) REMUS-600 by Hydroid, (16) SeaRobotics USV-2600 deployed by NATO Undersea Research Centre (NURC), now the Center for Maritime Research and Experimentation (CMRE).