\index{Autonomous Communication, Command and control}
\begin{table}[htp]
\renewcommand{\arraystretch}{1.5}
\begin{minipage}[c]{0.8\textwidth}
  \centering
  \mbox{
  \footnotesize
\begin{tabular}{|r|c|p{0.68\textwidth}|p{0.12\textwidth}|p{0.08\textwidth}|}
\hline
\# & Module Name & Module Description & Author & Size \\ \hline \hline
 
1 &{\bf pLaunch} &
Process for initiating initial Deploy mission. Independent of message
set, and as such replaces obsolete pMessageSim for initial  launch.  
\newline
{\em Libraries: tes\_util, mbutil, MOOS, MOOSGen, MOOSUtility}
& Schmidt &   \\ \hline

2 &{\bf pMissionMonitor} &
Principal vehicle state manager, controling autonomus state
transitions not associated with specific sensor systems . 
\newline
{\em Libraries: tes\_util, mbutil, MOOS, MOOSGen, MOOSUtility}
& Schmidt &   \\ \hline

3 &{\bf pClusterPriority} &
This process weights the priority to track a target (using BHV\_Attractor) by how close the vehicle is to the target relative to all the collaborating nodes. Closer vehicles are given higher weights, thus leading to a ``zone defense'' style of multivehicle autonomy. The last piece to this ``zone defense'' scheme is the BHV\_RubberBand, which attracts vehicles back to their initial deploy location which increasing strength with distance.
\newline
{\em Libraries: tes\_util, mbutil, MOOS, MOOSGen, MOOSUtility}
& Schneider &   \\ \hline

4 &{\bf pHuxley} &
Backseat driver interface for Bluefin/Huxley vehicles
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Balasuriya &   \\ \hline

5 &{\bf iRemus} &
Backseat driver interface for Remus/Recon vehicles
{\em Libraries: mbutil, MOOS, MOOSGen, MOOSUtility}
& Balasuriya &   \\ \hline

6 & {\bf pGeneralCodec} &
Highly extensible encoder / decoder of messages from human readable integers, booleans, strings, or floats to hexidecimal strings suitable for sending by the WHOI MicroModem.
\newline 
{\em Libraries:tes\_util, MOOS, MOOSGen, MOOSUtility}
& Schneider & \\ \hline

7 &{\bf pAcommsHandler} & 
Manages queues for transmission of acoustic messages. Different message queues can be given priorities that increase with time since the last message was sent from that queue.
{\em Libraries: tes\_util, MOOS, MOOSGen, MOOSUtility}
&  Schneider &  \\ \hline

8 &{\bf pAcommsPoller} &
Manages and schedules polling of other nodes on the modem network.
\newline 
{\em Libraries: tes\_util, MOOS, MOOSGen, MOOSUtility}
& Schneider &  \\ \hline

9 &{\bf iWHOIModem} &
Driver process for WHOI micromodems.
\newline 
{\em Libraries: tes\_util, MOOS, MOOSGen, MOOSUtility}
& Grund/Schneider &  \\ \hline

\multicolumn{4}{|c|}{Total unique lines of code} &  \\ 
\multicolumn{4}{|c|}{Total aggregate lines of code} &  \\ \hline


  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Autonomous Communication, Command and Control Modules for LAMSS MOOS-IvP autonomy system.}
\label{t_ac3}
\end{table}

