 The future of cross-domain autonomy (any combination of air, land, and sea platforms) will reside in providing value to time-sensitive applications. Those scenarios in which important information is collected by one platform, but requires exfiltration by another has uses in search-rescue missions, port-monitoring, and oceanographic surveys, to name a few. Any behaviors executed must be confined to achievable goals while also demonstrating flexibility to account for unplanned changes in situ. This work reports on the design and implementation of a multi-vehicle, cross-domain AUV scenario responsible for executing a combination of waypoint-based and advanced autonomy behaviors in response to direct commands from an unmanned aerial vehicle, via AUV gateway. The behaviors have been abstracted as contour-following and multi-scale bathymetry surveys, incorporating conditional pauses based on the state of shipping traffic detected by Automatic Identification System. The simulation created was designed to be vehicle agnostic to make allowances for unexpected system state changes. Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed lines 00-00 from: !! Talk-00: ''Real-time Simulation of Side Scan Sonar within the MOOS framework using NVIDIA OptiX'' !!!!%color=#000000% '''Trevor G. Anderson, Australian Centre for Field Robotics, The University of Sydney''' !!!!%color=#000000% '''David G. Johnson, Australian Centre for Field Robotics, The University of Sydney''' !!!!%color=#000000% '''David Battle, Defence Science and Technology Organisation''' to: !! Talk-00: ''Cross-Domain UxV Collaboration Scenario Development with MOOS-IvP'' !!!!%color=#000000% '''Lonnie Parker, Christopher Gagner, Scott Sideleau, Michael Incze, NUWC-DIVNPT''' Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed lines 00-00 from: !!!!%color=#000000% '''David G. Johnson, Australian Centre for Field Robotics, The University of Sydney'' !!!!%color=#000000% ''' David Battle, Defence Science and Technology Organisation''' to: !!!!%color=#000000% '''David G. Johnson, Australian Centre for Field Robotics, The University of Sydney''' !!!!%color=#000000% '''David Battle, Defence Science and Technology Organisation''' Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Added lines 00-00: !!!!%color=#000000% '''David G. Johnson, Australian Centre for Field Robotics, The University of Sydney'' !!!!%color=#000000% ''' David Battle, Defence Science and Technology Organisation''' Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed lines 00-00 from: !! Talk-00: ''iFrontSeat: A New Approach for Writing Extensible MOOS-IvP Frontseat-Backseat Payload Interface Drivers'' !!!!%color=#000000% '''Toby Schneider, Massachusetts Institute of Technology (MIT)''' Broadly, our goal at LAMSS is to develop a autonomy,sensing, and communications infrastructure that can operate on a heterogeneous collection of vehicles by splitting the system into two components: the "frontseat" and "backseat" computing systems. The "frontseat" is provided by the vehicle manufacturer and is typically proprietary. It is responsible for low level control of the vehicle. The "backseat" runs the high level autonomy (typically the IvP Helm), sensing, and communications (typically Goby) components. Not surprisingly, a piece of software is required to interface between the "frontseat" and the "backseat". Historically, a new interface has been written for each vehicle that was to be used with MOOS-IvP (For example, the applications iHuxley, iRecon, iOceanServerComms, ...). This led to a proliferation of approaches for handling the state transitions and control. In some cases, misunderstandings involving various aspects of MOOS-IvP have led to vehicle runaways. Furthermore, as MOOS-IvP becomes even more widely adopted and the number of manufacturers of robotic assets increases, it seems sensible to minimize the duplication of effort involved in writing interfaces. iFrontSeat aims to address these problems by providing a single open source implementation of the connection to MOOS-IvP (the "backseat") while providing a structured well-defined extensible interface for writing different "frontseat" drivers. Currently, a driver has been developed and tested for the Bluefin Robotics family of AUVs. This talk will discuss the design of iFrontSeat with a focus on how to expand its use to a wide variety of vehicles. [[Path:/moos-dawg00/docs/00-schneider_brief.pdf | %color=#ff0f00% DOWNLOAD]] 