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MOOS-IvP is a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles.

posted May 6, 2011, 12:24 AM by Cesar Harada
About a year ago, I was lucky to meet Michael R Benjamin at MIT.
He's participating in a number of project which closely relate to what Protei is trying to achieve, especially the "MOOS-IvP is a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles."
You also want to check the "Laboratory for Autonomous Marine Sensing Systems" where you will find a lot of good papers. 
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