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.