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, pHostInfo
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)