Goby Underwater Autonomy Project

The Goby Underwater Autonomy Project aims to create a unified framework for multiple scientific autonomous marine vehicle collaboration, seamlessly incorporating acoustic, ethernet, wifi, and serial communications. Presently the main thrust of the project is developing a set of robust acoustic networking libraries. Goby is licensed under the GNU General Public License v3 <http://www.gnu.org/licenses/gpl.html>.

Resources

• Home page, code, bug tracking, and answers: <https://launchpad.net/goby>.
• User Manual: (pdf).
• Developers' Manual: (html) (pdf).
• Wiki: <http://gobysoft.com/wiki>.

Developer manual

• goby-acomms: Overview of Acoustic Communications Libraries - tackle the extremely rate limited acoustic networking problem. These libraries were designed together but can operate independently for a developer looking integrate a specific component (e.g. just encoding/decoding) without committing to the entire goby-acomms stack.
• goby-util: Overview of Utility Libraries - provide utility functions for tasks such as logging, scientific calculations, string parsing, and serial device i/o. Goby also relies on the boost libraries <http://www.boost.org/> for many utility tasks to fill in areas where the C++ Standard Library is insufficient or unelegant.

Publications

• The Dynamic Compact Control Language: A Compact Marshalling Scheme for Acoustic Communications. IEEE OCEANS'10 / Sydney.

Download and Install Goby

Please visit <http://gobysoft.com/wiki/InstallingGoby> for help on obtaining and installing Goby.

Building Examples

Please visit <http://gobysoft.com/wiki/Examples> for to learn about the available code examples for Goby.

Authors

Goby is developed by the Goby Developers group (https://launchpad.net/~goby-dev). The lead developer is Toby Schneider (http://gobysoft.com)