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What is MOOS-IvP?
    Loosely speaking MOOS-IvP (pronounced "moose i-v-p") is a set of Open Source C++ modules for controlling the full operation of an autonomous marine vehicle. More precisely, MOOS-IvP is a small subset of those modules providing a core functionality and protocol for coordinating the larger set. MOOS modules are distinct processes running on the vehicle's CPU, communicating via a single database process in a publish-subscribe manner. The IvP Helm is a single MOOS process dedicated to autonomy decision making composed of distinct vehicle behavior modules. The ability to simply and freely interchange and improve upon modules is a primary objective of the architecture. MOOS ``modules'' refer to MOOS processes and IvP ``modules'' refer to IvP Helm behaviors.

MOOS stands for "Mission Oriented Operating Suite", and IvP stands for "Interval Programming".

Sponsors:
    This is a joint project between the Naval Undersea Warfare Center in Newport Rhode Island (NUWC-NPT), the Computer Science and Artificial Intelligence Laboratory (CSAIL) and Department of Mechanical Engineering at MIT, and the Mobile Robotics Research Group at Oxford University.
Support for this work in FY 2008 comes from Dr. Don Wagner, Dr. Behzad Kamgar-Parsi, ONR 311.
Getting started:
    The documentation page provides a few pdfs for getting started and using the software. The software page provides the links for getting the latest version of the software. For background of project sponsorship,MOOS and IvP, see the background page. For some links on sources for support, see the Support page. To contact us or join a mailing list, see the contact page.
   
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