Mission: swarm_fence

Maintained by: mikerb@mit.edu

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

Synopsis: A number of vehicles are deployed to surround a object of interest at a given location. Each vehicle is given (a) the location, (b) the standoff radius, and (c) the direction clockwise or not. The vehicles each approach the region while periodically sharing position information. Ordering is based on arrival time and all vehicles use a version of the COLREGS collision avoidance behavior to maintain safe separation.
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)