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\begin{document}

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%====================  Title  ================================
\begin{huge}
An Overview of MOOS-IvP and a Users Guide to

\vspace{0.18in}

the IvP Helm - Release 19.8
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\includegraphics[width=5.5in]{figs_cover/cover-book.png}

%====================  Authors  ==============================
\begin{Large}
Michael R. Benjamin$^1$, Henrik Schmidt$^1$, Paul Newman$^2$   \\
\end{Large}

\vspace{0.15in}

$^1$Department Mechanical Engineering                     \\ 
Massachusetts Institute of Technology, Cambridge MA       \\
\vspace{0.1in}
$^2$Department of Engineering Science                     \\
University of Oxford, Oxford England                      \\
%=====================  Date  ================================
\vspace{0.1in} 
{\bf {\today} - Post-Release 19.8}
%=============================================================
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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.
\end{abstract}

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\newpage \input{xchap_pmviewer}
\newpage \input{xchap_uhelmscope}
\newpage \input{xchap_geometry}
\newpage \input{xchap_utscript}
\newpage \input{xchap_pcmanager_v20}
\newpage \input{xchap_uprocwatch}
\newpage \input{xchap_uloadwatch}
\newpage \input{xchap_pnreporter}
\newpage \input{xchap_uxms}

\newpage \input{xchap_usimmarine}
\newpage \input{xchap_phostinfo}
\newpage \input{xchap_upokedb}
\newpage \input{xchap_uquerydb}
\newpage \input{xchap_pechovar}

\newpage \input{xchap_pobstaclemgr}
\newpage \input{xchap_pdeadmanpost}
\newpage \input{xchap_isay}
\newpage \input{xchap_prealm}
\newpage \input{xchap_utermcommand}

\newpage \input{xchap_alog_intro}
\newpage \input{xchap_alog_cmdline}
\newpage \input{xchap_alogview}

\newpage \input{xchap_appcasting_intro}
\newpage \input{xchap_appcasting_umactools}
\newpage \input{xchap_appcasting_extend}
\newpage \input{xchap_appcasting_under_hood}

\newpage \input{xchap_ufld_nodebroker}
\newpage \input{xchap_ufld_shorebroker}
\newpage \input{xchap_ufld_nodecomms}
\newpage \input{xchap_ufld_msghandler}
\newpage \input{xchap_ufld_collision_detect}
\newpage \input{xchap_ufld_collob_detect}


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\printindex
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