Mission: swarm_defend

Maintained by: mikerb@mit.edu

https://github.com/pavlab-mit/missions-swarm/tree/main/S50-swarm_defend

Synopsis: A group of N=7 vehicles are deployed to a circular region and repeatedly traverse from one side of the circle to the other. The purpose of this mission is to test the COLREGS collision avoidance behavior and its supported variants. Each vehicle will exit the circle and perform a Williamson turn, adjusting its speed to increase the variance in re-entry time across vehicles. The synchronization enhances the collision avoidance complexity by creating a high close-in contact density, thereby challending the collision avoidance behaviors.
Description:N vehicles defend a high-value asset at the center of a region
Vehicle Amt:7 (max=12)
Apps: (Shore)pMarineViewer, uFldShoreBroker, uFldNodeComms
Apps: (Vehicle)uSimMarineV22, pNodeReporter, pHelmIvP, uProcessWatch, pContactMgrV20, uFldNodeBroker, uLoadWatch, pEncircle
Apps: (Both)MOOSDB, pLogger, pShare, pHostInfo, pRealm
Behaviors:TaskWaypoint, TaskConvoy, StationKeep, AvoidCollision, Loiter, Waypoint
Location:mit_pavlat (43.825300,-70.330400) (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:pavlab-mit/missions-swarm.git
    $ cd missions-swarm/S50-swarm_fence
    $ ./launch.sh --amt=7 15  (7 vehicles, 15x realtime)