Behavior: BHV_Muster

Brief Synopsis:

A behavior mustering in a region and keeping separation from others.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

  • Pending

Contact Email:

  • mikerb@mit.edu

Function:

The Muster behavior drives the vehicle toward a convex polygon and works in cooperation with other vehicles, presumably also running a muster behavior with the same polygon. Each vehicle shares its position with all other vehicles and calculates the Voronoi distribution of vehicle and drives the vehicle toward the center of its own local polygon in the distribution.