IvP Helm Behaviors


Single-Vehicle Behaviors:

  • ConstantDepth - Keep the vehicle at a constant depth.
  • ConstantHeading - Keep the vehicle at a constant heading.
  • ConstantSpeed - Keep the vehicle at a constant speed.
  • GoToDepth - Move the vehicle to sequence of depth/duration pairs.
  • Loiter - Maintain a loiter pattern based on a convex polygon.
  • MemoryTurnLimit - Limit the amount of heading change based on recent turning history.
  • OpRegion - Safety behavior with respect to operation area, max depth, max mission time.
  • PeriodicSpeed - Alter the vehicle speed on a fixed time interval.
  • PeriodicSurface - Periodically bring the vehicle to the surface pending a defined event.
  • StationKeep - Maintain a vehicle's position at a given point within a given radius.
  • Timer - A simple behavior with timer functions for coordinating other behaviors.
  • Waypoint - Traverse a set of given waypoints, with optional track-line following.

Contact-Related Behaviors:

  • AvoidCollision - Non-protocol based (pure CPA) collision avoidance.
  • AvdColregs - COLREGS protocol based collision avoidance.
  • CutRange - Reduce the range to another given vehicle.
  • Shadow - Mimic the heading and speed of another given vehicle.
  • Trail - Maintain a relative position to another given vehicle.