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\labtitle{An Overview of MOOS-IvP and a Users Guide to}
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\labtitle{the IvP Helm - Release 22.8}
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\labsubtitle{MIT 2.680 Unmanned Marine Vehicle Autonomy, Sensing and Communications}
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\labdate{August 10th 2022}
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\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Henrik Schmidt, henrik@mit.edu}
\labauth{Paul Newman, pnewman@robots.ox.ac.uk}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labnotes{From Top Left to Bottom Right: (1) the MIT Bluefin 21-inch UUV - the first UUV to run MOOS-IvP, (2) The Sailbot by Marine Robotics, LLC (3) SeaRobotics USV-2600 fielded by Defence Research and Development Canada (DRDC) in the Arctic Ocean, (4) The SeaRobotcs M1.8 Swarm USV (5) L3Harris Ocean Server Iver3 UUV, (6) Ocean Explorer UUV deployed by the Center for Maritime Research and Experimentation (CMRE), (7) The Thayer Mahan  USV Babou, (8) Clearpath Robotics Heron M300 USV, MIT variant, (9) Jaia Robotics UUV, (10) The Velox UUV, (11) Common Unmanned Surface Vehicle (CUSV) by Textron Unmanned Systems (12) Liquide Robotics Wave Glider (13) The Morpheus Experimental UUV based on the EMATT UUV (14) The MIT WAM-V USV winner of the 2014 RobotX Competition, (15) Autonomous Boston Whaler by Mercury/Brunswick, (16) Reliant Knifefish prototype (Bluefin 21 variant) by NRL.}
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