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   @inproceedings{mattos2016,
    title     = {Development of a low-cost autonomous surface vehicle using MOOS-IvP},
    booktitle = {2016 Annual IEEE Systems Conference (SysCon)},
    author    = {David Issa Mattos and Douglas Soares dosSantos and Cairo L. Nascimento},
    pages     = {1-6},
    month     = {April},
    year      = {2016},
    keywords  = {Boats;Global Positioning System;Hardware;Kalman
                filters;Modems;Software;Vehicles;Autonomous Navigation;Autonomous Surface
                Vehicle;Extended Kalman Filter;MOOS-IvP;Sensor Fusion},
    abstract  = {This paper describes the implementation of a low-cost Autonomous Surface
                Vehicle (ASV) using a behavior-based software, the MOOS-IvP. The platform used
                is a catamaran boat driven by two direct current motors as the propulsion
                system. It is embedded with a processing board with an Arduino
                microcontroller, a low-cost Inertial Measurement Unit (IMU) with
                accelerometers, gyroscopes and magnetometers, a GPS receiver and a wireless RF
                serial modem. The ASV communicates with a Ground Control Station (GCS) sending
                telemetry data and receiving navigation commands for the propulsion motors.
                The GCS uses the MOOS-IvP software to implement the autonomous navigation
                procedures and the GPS/Compass/IMU sensor fusion algorithm. Simulation and
                experimental results in real conditions are presented and discussed. The
                experimental and simulation results consist of path following missions in the
                presence of virtual obstacles.}}