Mission: multigrid

Maintained by: mikerb@mit.edu

https://github.com/moos-ivp/missions-auto/tree/main/05-multigrid

Synopsis: Four vehicles are deployed in a region to four separate loiter locations. Their locations are periodically re-assigned, creating collision avoidance challenges as they move to the new locations. The XYGrid data structure is used in the pSearchGrid app, to note and store the collective time spent in any of the grid cell locations. This information is not acted on in this mission, but only serves as a demonstration.
Description:A two-vehicle mission using XYGrid for tracking regional visit time
Vehicle Amt:4 (max=4)
Apps: (Shore)uTimerScript, pMarineViewer, uFldShoreBroker, uFldNodeComms, pSearchGrid
Apps: (Vehicle)pMarinePIDV22, pHelmIvP, pContactMgrV20, uFldNodeBroker, pNodeReporter, uSimMarineV22, iM300
Apps: (Both)MOOSDB, pRealm, pLogger, uProcessWatch, pShare, pHostInfo
Behaviors:Loiter, Waypoint, StationKeep, AvoidCollision
Location:forest_lake (42.358436,-71.087448) (google maps)
LaunchScripts:launch.sh, launch_shoreside.sh, launch_vehicle.sh
Mission Files:meta_shoreside.moos, meta_vehicle.moos, meta_vehicle.bhv

To run this mission: 

    $ git clone git@github.com:moos-ivp/missions-auto.git
    $ cd missions-auto/05-multigrid
    $ ./launch.sh --amt=4 15   (5 vehicles, 15x real time)