moos-ivp-spurdog is a platform-agnostic autonomy and control
toolbox for underwater vehicles, built on the MOOS-IvP autonomy middleware.
It covers state estimation, vehicle control, sensor drivers, acoustic
communication, simulation and mission planning, and scales from a single
vehicle to multi-vehicle operations. Clear abstraction layers separate
autonomy, estimation, communications and hardware, so it can be adapted to
new vehicles, sensors and missions.
Access
Source-available to approved users. See Documentation & Reproducing.
People
Lead: Raymond Turrisi