Mission: swarm_defend

Maintained by: mikerb@mit.edu

https://github.com/pavlab-mit/missions-swarm/tree/main/S54-swarm_defend

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 to intercept an incoming vehicle(s). For each incoming vehicle, the group will perform a decentralized auction to determine which vehicle will intercept. If multiple incoming vehicles appear simultaneously, multiple auctions will be conducted to match a defender to each incoming vehicle.
Description:N vehicles defend a high-value asset at the center of a region
Vehicle Amt:7 (max=12)
Apps: (Shore)pMarineViewer, uFldShoreBroker, uFldNodeComms, uFldTaskMonitor
Apps: (Vehicle)uSimMarineV22, pNodeReporter, pHelmIvP, uProcessWatch, pContactMgrV20, uFldNodeBroker, uLoadWatch, pEncircle, uFldMessageHandler, pTaskManager
Apps: (Both)MOOSDB, pLogger, pShare, pHostInfo, pRealm
Behaviors:TaskWaypoint, TaskConvoy, StationKeep, AvoidCollision, Loiter, Waypoint
Location:mit_pavlab (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/S54-swarm_defend
    $ ./launch.sh --amt=7 15  (7 vehicles, 15x realtime)