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Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2011-036 July 28, 2011 MOOS-IvP Autonomy Tools Users Manual Release 4.2.1 Michael R. Benjamin m a ss a c h u se t t s i n st i t u t e o f t e c h n o l o g y, c a m b ri d g e , m a 02139 u s a — w w w. c s a il . m i t . e d u