Mission: convoy

Maintained by: mikerb@mit.edu

https://github.com/mikerb/missions-swarm/tree/main/S55-convoy

Synopsis: Up to six vehicles are deployed with the task of transiting back and forth between two muster regions (convex polygons). As the approach and enter the muster region, they are using the Voronoi-based muster behavior to maintain separation. Once all vehicles have arrived, they perform a series of decentralized auctions to build an ordering consensus to form a linear convoy as they approach the next muster region. All ordering or space assigments are decided by the group by collaborating to build a consensus.
Description:N vehicles determine their own convoy ordering and form a convoy
Vehicle Amt:4 (max=6)
Apps: (Shore)pMarineViewer, uFldShoreBroker, uFldNodeComms, uFldTaskMonitor, uFldConvoyEval, uFldVoronoi, uFldDelve
Apps: (Vehicle)pTaskManager, pContactMgrV20, pNodeReporter, uFldNodeBroker, uFldMessageHandler, uLoadWatch, uMemWatch, pHelmIvP, pMarinePIDV22, uSimMarineV22, iM300, iM300Health, pMediator
Apps: (Both)MOOSDB, pLogger, uProcessWatch, pShare, pHostInfo, pRealm
Behaviors:ConvoyV25, StationKeep, Waypoint, AvdColregsV22, MusterX, OpRegionV24, TaskWaypoint, TaskConvoy, TaskMuster
Location:mit_pavlab (42.358436,-71.087448) (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/S56-muster
    $ ./launch.sh --amt=4 15  (4 vehicles, 15x realtime)