Extending a MOOS-IvP Autonomy System and Users Guide to the IvPBuild Toolbox

This document describes how to extend the suite of MOOS applications and IvP Helm behaviors distributed with the MOOS-IvP software bundle from www.moos-ivp.org. It covers (a) a straw-man repository with a place-holder MOOS application and IvP Behavior, with a working CMake build structure, (b) a brief overview of the MOOS application class with an example application, and (c) an overview of the IvP Behavior class with an example behavior, and (d) the IvPBuild Toolbox for generation of objective functions within behaviors. Approved for public release; Distribution is unlimited. This work is the product of a multi-year collaboration between the Center for Advanced System Technologies (CAST), Code 2501, of the Naval Undersea Warfare Center in Newport Rhode Island and the Department of Mechanical Engineering and the Computer Science and Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology in Cambridge Massachusetts, and the Oxford University Mobile Robotics Group. Points of contact for collaborators: Dr. Michael R. Benjamin Center for Advanced System Technologies NUWC Division Newport Rhode Island Michael.R.Benjamin@navy.mil mikerb@csail.mit.edu Prof. John J. Leonard Department of Mechanical Engineering Computer Science and Artificial Intelligence Laboratory Massachusetts Intitute of Technology jleonard@csail.mit.edu Prof. Henrik Schmidt Department of Mechanical Engineering Massachusetts Intitute of Technology henrik@mit.edu Dr. Paul Newman Department of Engineering Science University of Oxford pnewman@robots.ox.ac.uk Other collaborators have contributed greatly to the development and testing of software and ideas within, notably Joseph Curcio, Don Eickstedt, Andrew Patrikilakis, Toby Schneider, Arjuna Balasuriya, David Battle, Christian Convey, Andrew Shafer, and Kevin Cockrell. Sponsorship, and public release information: This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of the Office of Naval Research (ONR), Code 311. Information on Navy public release approval for this document can be obtained from the Technical Library at the Naval Undersea Warfare Center, Division Newport RI.