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\wikidoc{file=Proj.Blueboat}
\wikidoc{auth=jwenger@mit.edu}

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\section*{Blueboat Autonomy}
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\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/blueboat.png}
  \label{fig_one}
  \caption{Blueboat operations on the Charles River Summer/Fall 2024}
\end{figure}

\noindent
As the field of marine robotics grows, it is important to develop and
document technical solutions for commercially available unmanned
surface vehicle (USV) platforms. The Blue Boat from Blue Robotics is
one such platform that is being widely adopted due to its substantial
battery life (up to 60 hours) and an impressive payload capacity for
its size (30 lbs). This, in conjunction with its comparatively
affordable price makes the Blue Boat an ideal candidate as an
instrument in academic research.

\vspace{0.1in}
\noindent
Beginning in Summer 2024 members of the MIT Marine Autonomy Lab in
conjunction with the MIT Lincoln Laboratory have worked to integrate
MOOS-IvP with the BlueOS software stack via a publicly available
BlueOS extension. This work will allow any Blue Boat to easily
interface with MOOS-IvP or other autonomy stacks via a NMEA String
based TCP communication.

\vspace{0.1in}
\noindent
Simultaneously, work is being done to advance the hardware of the Blue
Boat to improve communication range, as well as ease of payload
integration. A retrofitting guide is being developed to instruct users
how to modify a Blue Boat from an "out of the box" state to
multi-purpose MOOS-IvP platform.

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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status:}   &amp; Ongoing since July 2024 \\ \hline 
  \var{People:}   &amp; Jeremy Wenger, Raymond Turrisi, Zack Serlin, Mike Benjamin (PI) \\ \hline 
  \var{Sponsors}: &amp; MIT Lincoln Lab \\ \hline 
                  &amp; RapidHarness Wire \urlx{https://rapidharnes.com} \\ \hline 
  \var{Software}: &amp; MOOS-IvP, \urlx{https://moos-ivp.org} \\ \hline 
                  &amp; ArduRover, \urlx{https://ardupilot.org} \\ \hline 
                  &amp; BlueOS \urlx{https://blueos.cloud} \\ \hline 
  \var{Robots}:   &amp; The Blueboat \urlx{https://oceanai.mit.edu/pavlab/robots/blueboat} \\ \hline
\end{longtable}
\normalsize


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%\section*{Related Work}

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