Mission: swarm_intercept


Maintained by: mikerb@mit.edu


https://github.com/pavlab-mit/missions-swarm/tree/main/S50-swarm_defend


Synopsis: A group of N=3 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 defend a high-value asset and intercept incoming intruders
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_pavlat (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/S50-swarm_defend
    $ ./launch.sh --amt=7 15  (7 vehicles, 15x realtime)