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An Overview of MOOS-IvP and a Users Guide to

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the IvP Helm - Release 24.8
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Michael R. Benjamin$^1$, Paul Newman$^2$   \\
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$^1$Department Mechanical Engineering                     \\ 
Massachusetts Institute of Technology, Cambridge MA       \\
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$^2$Department of Engineering Science                     \\
University of Oxford, Oxford England                      \\
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%{\bf {\today} - Post-Release 22.8}
{\bf August, 2024 - Release 24.8}

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{\bf Last Updated: \today}

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\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.
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\noindent
This work is the product of a multi-year collaboration between the
Marine Autonomy Lab in the Department of Mechanical Engineering at
Massachusetts Institute of Technology in Cambridge Massachusetts, and
the Oxford University Mobile Robotics Group.

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{\bf Points of contact for collaborators:}

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\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}}

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\noindent
Dr. Paul Newman \newline
Department of Engineering Science \newline
University of Oxford \newline
{\underline {pnewman@robots.ox.ac.uk}}
 
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\noindent
Other collaborators have contributed greatly to the development and
testing of software and ideas within, notably - Henrik Schmidt, Toby
Schneider, Stephanie Kemna, Arjan Vermeij, David Battle, Christian
Convey, Chris Gagner.

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{\bf Sponsorship:}

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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.

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