Base Software Configuration
SeaBeaver UUVs operate on the StackUxV unified autonomy framework, an independent project led by Dr. Supun Randeni with affiliations across several programs, one of which is SeaBeaver. StackUxV delivers a complete embedded autonomy software suite for unmanned vehicles, leveraging MOOS-IvP (developed by Dr. Mike Benjamin) as the autonomy engine.
The Sea Beaver III base UUV is equipped with the core StackUxV modules and MOOS-IvP, providing all fundamental capabilities for autonomous operation. For advanced capabilities, a range of additional software packages is available under license, enabling expanded functionality as demonstrated here:
The core software modules are the followings:
| Software Package Name | Capabilities |
| StackUxV | Topside operator command & control Mission planning Fleet management Mission management Navigation (HydroMAN Lite version) Low-level vehicle control Gateway for custom software extension |
| StackUxV-drivers | Sensor drivers Actuator drivers Hardware unit testing services Vehicle health monitoring & status indication |
| MOOS-IvP | MOOS middleware Behavior-based decision-making helm Autonomy behaviors Topside operator command & control Utility tools for runtime and post-mission analysis |
| missions-StackUxV | Fleet-level configuration Vehicle-architecture-level configuration Vehicle-level configuration Mission-profile-level configuration Software launch & termination Batch simulation setup |
What is StackUxV?
StackUxV is a unified autonomy framework built to operate seamlessly across multiple vehicle types—within a single domain (e.g., multiple underwater vehicles), across domains (e.g., underwater, surface, aerial, and ground platforms), and even in cross-domain platforms capable of operating in more than one domain. By using a shared autonomy framework, each vehicle maintains a consistent baseline for decision-making, behavior, and communication, enabling more predictable and coordinated multi-platform operations.
Imagine a team of players who understand each other’s roles: even without constant communication, they act cohesively. StackUxV is aimed towards providing that internalized “playbook” for autonomous vehicles, allowing each platform to anticipate the status and actions of others in dynamic environments with minimal to no communication.
The framework covers the full onboard software stack—navigation, sensing, decision-making, control, drivers, communications, and software interfaces. It also integrates the Virtual Ocean simulation system and a fleet-level digital twin (embedded fleet autonomy clone), with a vision of giving each vehicle real-time awareness of the state and behavior of other platforms to enable robust, intelligent multi-agent operation.