(:notitlegroup:) 

   @article{jiyeonkim2014,
    title     = {The Effectiveness of MOOS-IvP based Design of Control System for Unmanned
                Underwater Vehicles TT},
    author    = {Jiyeon Kim and Dongik Lee},
    journal   = {IEMEK Journal of Embedded Systems and Applications},
    pages     = {157--163},
    volume    = {9},
    year      = {2014},
    abstract  = {This paper demonstrates the benefit of using MOOS-IvP in the development of
                control system for Unmanned Underwater Vehicles(UUV). The demand for autonomy
                in UUVs has significantly increased due to the complexity in missions to be
                performed. Furthermore, the increased number of sensors and actuators that are
                interconnected through a network has introduced a need for a middleware
                platform for UUVs. In this context, MOOS-IvP, which is an open source software
                architecture, has been developed by several researchers from MIT, Oxford
                University, and NUWC. The MOOS software is a communication middleware based on
                the publish-subscribe architecture allowing each application to communicate
                through a MOOS database. The IvP Helm, which is one of the MOOS modules,
                publishes vehicle commands using multi-objective optimization in order to
                implement autonomous decision making. This paper explores the benefit of
                MOOS-IvP in the development of control software for UUVs by using a case study
                with an auto depth control system based on self-organizing fuzzy logic
                control. The simulation results show that the design and verification of UUV
                control software based on MOOS-IvP can be carried out quickly and efficiently
                thanks to the reuse of source codes, modular-based architecture, and the high
                level of scalability.}}