“An Overview of MOOS-IvP and a Brief Users Guide to the IvP Helm Autonomy Software”
http://dspace.mit.edu/handle/1721.1/45569
“Extending a MOOS-IvP Autonomy System and Users Guide to the IvPBuild Toolbox”
http://dspace.mit.edu/handle/1721.1/46361
“MOOS-IvP Autonomy Tools Users Manual”
http://dspace.mit.edu/handle/1721.1/43708
“A Tour of MOOS-IvP Autonomy Software Modules”
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