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As maritime autonomy is introduced to perform increasingly complex missions, there is a prevailing need to autonomously determine complex event sequences and task schedules, as well as visualizing those vehicle actions before a mission. The Naval Surface Warfare Center, Panama City Division (NSWC PCD) has developed interfaces between MOOS-IvP to aid with both areas. We present a software framework to interface the commercial off-the-shelf optimization software OPL/CPLEX with MOOS-IvP. IBM's OPL/CPLEX is one of the world’s fastest optimization software packages for solving numerical optimization problems such as mixed-integer linear programming, quadratic programming, and scheduling. The OPL-MOOS interface will allow unmanned systems controlled by the MOOS-IvP autonomy framework to utilize numerical optimization routines found in OPL/CPLEX for autonomous plan optimization and scheduling. For mission visualization, we present an overview of a novel three-dimensional mission visualization software package developed by NSWC PCD, and its interface with MOOS-IvP using Google protocol buffers. We believe the two interfaces and software packages allow for extending the possible mission profiles and tasking with which MOOS-IvP can be used. DOWNLOAD