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. The Goby libraries are licensed under the GNU Lesser General Public License v3 http://www.gnu.org/licenses/lgpl.html and the applications are 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: An overview of Acoustic Communications Library - tackle the extremely rate limited acoustic networking problem. This library was designed with four modules that 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.
goby-moos: An overview of the Goby/MOOS interoperability library - classes, applications (e.g. pAcommsHandler and iFrontSeat), and functions for interoperating between Goby and the MOOS middleware.

Publications

T. Schneider and H. Schmidt, The Dynamic Compact Control Language: A Compact Marshalling Scheme for Acoustic Communications. IEEE OCEANS'10 / Sydney.
T. Schneider and H. Schmidt, Goby-Acomms: A modular acoustic networking framework for short-range marine vehicle communication. Unpublished working paper.
T. Schneider and H. Schmidt, Goby-Acomms version 2: extensible marshalling, queuing, and link layer interfacing for acoustic telemetry. 9th IFAC Conference on Manoeuvring and Control of Marine Craft '12 / Arenzano, Italy.
T. Schneider, Advances in Integrating Autonomy with Acoustic Communications for Intelligent Networks of Marine Robots. PhD Thesis, MIT/WHOI Joint Program.

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 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)