Mission: joust

Maintained by: mikerb@mit.edu

https://github.com/pavlab-mit/missions-swarm/tree/main/S51-joust

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 joust upon a shared circle, testing COLREGS collision avoidance
Vehicle Amt:7 (max=10)
Apps: (Shore)pMarineViewer, uFldJoustMgr, uFldShoreBroker, uFldNodeComms, uFldCollisionDetect, uFldUnison
Apps: (Vehicle)pNodeReporter, pMarinePIDV22, pHelmIvP, pContactMgrV20, uFldNodeBroker, uLoadWatch, uSimMarineV22, iM300, iM300Health
Apps: (Both)MOOSDB, pLogger, pShare, pHostInfo, uProcessWatch, pRealm
Behaviors:LegRun, Waypoint, StationKeep, OpRegionV24, AvdColregsV22, AvoidCollision
Location:mit_pavlat (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:pavlab-mit/missions-swarm.git
    $ cd missions-swarm/S51-joust
    $ ./launch.sh --amt=7 15  (7 vehicles, 15x realtime)