Autonomous decision-making through the IvP helm is introduced. We
review the role of a helm in the overall robot software architecture
and review the nature of decision-making distinct from planning and
control. The general concepts of a behavior-based architecture are
introduced, followed by methods for behavior reconciliation through
action selection. Options for action selection are presented with
respective strengths and weaknesses. Multi-ojective optimization is
introduced as prefered means for effective action selection. The
notion of helm modes and mission modes is introduced, along with
mechanisms in behaviors for carrying out prescribe mission modes.
IvP Behaviors are introduced by describing capabilities available to
all behaviors and how specific behaviors can extend general functionality
to become advanced specialty behaviors.

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\noindent
High-level learning objectives addressed:

\begin{packed_itemize}
\item Core Decision Layers
\item Core Architectures
\item Mission Structures
\end{packed_itemize}

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\noindent
Component learning objectives addressed: 

\begin{packed_itemize}
\item Autonomy software community
\item Simulation
\item Basic C2
\item Behavior-based Architecture
\item Action selection
\item Multi-objective optimization
\end{packed_itemize}
