<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">% Produce the title page
\thispagestyle{empty} \vspace{4cm}

\begin{center}
\begin{huge}
An Overview of MOOS-IvP and a Users Guide to

\vspace{0.18in}

the IvP Helm - Release 22.8
\end{huge}

\vspace{0.25in}

\includegraphics[width=5.5in]{figs_cover/cover-book.png}
\end{center}

%===============================================================
% Authors
%===============================================================
\begin{center}
\begin{Large}
Michael R. Benjamin$^1$, Henrik Schmidt$^1$, Paul Newman$^2$   \\
\end{Large}

\vspace{0.15in}

$^1$Department Mechanical Engineering                     \\ 
Massachusetts Institute of Technology, Cambridge MA       \\
\vspace{0.1in}
$^2$Department of Engineering Science                     \\
University of Oxford, Oxford England                      \\
\end{center}

%===============================================================
% Date
%===============================================================
\begin{center}
\vspace{0.1in} 
%{\bf {\today} - Post-Release 22.8}
{\bf August, 2022 - Release 22.8}

\vspace{0.11in}

{\bf Last Updated: \today}


\end{center}


%===============================================================
% Abstract
%===============================================================
\begin{abstract}
  This document describes the IvP Helm - an Open Source behavior-based
  autonomy application for unmanned vehicles.  IvP is short for
  interval programming - a technique for representing and solving
  multi-objective optimizations problems. Behaviors in the IvP Helm
  are reconciled using multi-objective optimization when in
  competition with each other for influence of the vehicle.  The IvP
  Helm is written as a MOOS application where MOOS is a set of Open
  Source publish-subscribe autonomy middleware tools. This document
  describes the configuration and use of the IvP Helm, provides
  examples of simple missions and information on how to download and
  build the software from the MOOS-IvP server at www.moos-ivp.org.
\end{abstract}

\newpage
\hspace{0.1in}

%===============================================================
% Collaborators
%===============================================================
\newpage
\vspace*{0.1in}

\begin{minipage}[c]{0.99\textwidth}
  \centering 
  \includegraphics[width=0.5\textwidth]{figs_cover/collaborators.png}
\end{minipage}

\small
\vspace{0.3in}
\noindent
This work is the product of a multi-year collaboration between the
Department of Mechanical Engineering and the Computer Science and
Artificial Intelligence Laboratory (CSAIL) at the Massachusetts
Institute of Technology in Cambridge Massachusetts, and the Oxford 
University Mobile Robotics Group.

\vspace{0.24in}

\noindent
{\bf Points of contact for collaborators:}

\vspace{0.07in}

\noindent
Dr. Michael R. Benjamin \newline
Department of Mechanical Engineering \newline
Computer Science and Artificial Intelligence Laboratory \newline
Massachusetts Intitute of Technology \newline
{\underline {mikerb@csail.mit.edu}}

\vspace{0.2in}
\noindent
Dr. Paul Newman \newline
Department of Engineering Science \newline
University of Oxford \newline
{\underline {pnewman@robots.ox.ac.uk}}
 
\vspace{0.2in}
\noindent
Prof. Henrik Schmidt \newline
Department of Mechanical Engineering \newline
Massachusetts Intitute of Technology \newline
{\underline {henrik@mit.edu}}
 
\vspace{0.3in}

\small
\noindent
Other collaborators have contributed greatly to the development and
testing of software and ideas within, notably - Toby Schneider,
Stephanie Kemna, Arjan Vermeij, David Battle, Christian Convey, Chris
Gagner.

\vspace{0.15in}

%===============================================================
% Collaborators
%===============================================================
\newpage
{\bf Sponsorship:}

\vspace{0.05in}
\noindent
This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of 
the Office of Naval Research (ONR), Code 311. Further support for testing and
coursework development sponsored by Battelle, Dr. Robert Carnes.
\vspace{0.05in}

\begin{minipage}[c]{0.99\textwidth}
  \centering 
  \includegraphics[width=0.5\textwidth]{figs_cover/sponsors.png}
\end{minipage}

\normalsize







</pre></body></html>