Mission: saxis
Maintained by: mikerb@mit.edu
https://github.com/pavlab-mit/missions-swarm/tree/main/S53-saxis
Synopsis: A given number of vehicles are deployed to cover a region known to all vehicles at the outset. Vehicles periodically share position information if they are in range. Each vehicles uses a version of a Voronoi based helm behavior, calculating its own Voronoi cell based on ownship position and last known positions of its closest neigbors. Each vehicle uses a variant of Lloyd's algorith to set its position. New vehicles can be added or existing vehicles can be removed with adjustments made automatically with no central decision-making. | ![]() |
Description: | N vehicles evenly cover a region using Voronoi based behaviors |
Vehicle Amt: | 10 (max=30) |
Apps: (Shore) | pMarineViewer, uFldShoreBroker, uFldNodeComms, uFldVoronoi |
Apps: (Vehicle) | uSimMarineV22, pNodeReporter, pHelmIvP, uProcessWatch, pContactMgrV20, uFldNodeBroker, uLoadWatch, pProxonoi |
Apps: (Both) | MOOSDB, pShare, pRealm, pLogger, pHostInfoV2 |
Behaviors: | AvoidCollision, Voronoi, Waypoint, StationKeep |
Location: | saxis_va (37.9355,-75.772) (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/S53-saxis $ ./launch.sh --amt=10 15 (10 vehicles, 15x realtime)