UNDERSEA

An Exemplar for Engineering Self-Adaptive Unmanned Underwater Vehicles

Additional information can be found on the UNDERSEA webpage

The repository comprises the following directories:

• UNDERSEA_Controller: An Eclipse Maven project that contains the source for developing a new controller

• UNDERSEA_DSL: An Eclipse Maven project that contains the source for modifying and extending UNDERSEA DSL

• missions: Example missions specified in UNDERSEA DSL

• moos-ivp-UNDERSEA: Necessary UNDERSEA components (Sensor and UUV) for MOOS-IvP

Also, the repository comprises the following shell scripts:

• build-controller.sh: Script for building UNDERSEA_Controller.jar.
  Run ./build-controller.sh

• build-dsl.sh: Script for building UNDERSEA_DSL.jar.
  Run ./build-dsl.sh

• build-mission.sh: Script for building the necessary mission files.
  Run ./build-mission.sh missionPath

• build-missionParser.sh: Script for building the UNDERSEA DSL. Execute this script only when you modify UNDERSEA DSL.
  Run ./build-mission.sh missionPath

• clean.sh: Script for cleaning either the build directory (using flag -r) or any pending MOOS-IvP processes (using flag -k).
  Run ./clean.sh -r or ./clean.sh -k

• launch.sh: Script for launching a mission (including the controller and the controlled system)
  Run ./launch.sh

• memoryMonitor.sh: Script for launching visualvm and connecting the UNDERSEA_Controller process with the memory monitoring tool)
  Run ./memoryMonitor.sh

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Should you have any comments, suggestions or questions, or to report a bug, please email simos.gerasimou-at-york.ac.uk