Mission: converge

Maintained by: mikerb@mit.edu

https://github.com/pavlab-mit/missions-swarm/tree/main/S52-converge

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. Vehicles await a prompt and then switch modes to converge synchronously to the center.
Description:N vehicles encircle and synchronously converge to the center
Vehicle Amt:7 (max=20)
Apps: (Shore)pMarineViewer, pHostInfo, uFldShoreBroker, uFldNodeComms, uFldTaskMonitor
Apps: (Vehicle)uSimMarineV22, pNodeReporter, pHelmIvP, uProcessWatch, pContactMgrV20, pHostInfoV2, uFldNodeBroker, uLoadWatch, pEncircle, uFldMessageHandler, pTaskManager
Apps: (Both)MOOSDB, pLogger, pShare, pRealm
Behaviors:FixedTurn, Waypoint, TaskWaypoint, TaskConvoy, StationKeep, AvoidCollision, Loiter, Waypoint
Location:forest_lake (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/S52-converge
    $ ./launch.sh --amt=7 15  (4 vehicles, 15x realtime)