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Talk-06: A Review of Automatic Depth Contour Following with MOOS-IvP

Scott R. Sideleau, Michael L. Incze, NUWC-DIVNPT

Maritime robotics platforms equipped with Mission Oriented Operating Suite (MOOS) and Interval Programming (IvP) Helm have been employed successfully by academia and public sector research institutions to achieve various applied research goals over the last 15-years. Often, reactive behaviors that respond to through-the-sensor data have been exercised and refined. This work highlights a specific behavior automatic depth contour following as it has been developed and deployed by NUWC Newport to support various operational demonstrations with the US Navy over the last 8-years. In this case study, we explore the concept of operations (CONOPS), the evolution of the behavior, the additional supporting MOOSApps that have been developed, and future work.


  • AUVs
  • IvP Behaviors
  • Command and Control, Mission Planning
  • Seafloor Surveying