http://moos-ivp.org
MOOS-IvP is a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles.
The Core autonomy codebase primarily consists of the helm and core libraries comprising the helm. This includes the geometry and behavior libraries. Also included in this group the COLREGS behavior which includes several supporting libraries. The obstacle manager and contact manager are also in this group.
Autonomy >>>>> Collision Avoidance