Mission: muster_convoy

Maintained by: mikerb@mit.edu

https://github.com/mikerb/missions-swarm/tree/main/S56-muster_convoy

Synopsis: Up to six vehicles are deployed with the task of transiting back and forth between two muster regions (convex polygons). As they 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 determine a linear convoy ordering and then proceed in a linear convoy to the other muster region.
Description:Four convoying vehicles use the Muster behavior to inhabit a shared region
Vehicle Amt:4 (max=10)
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_convoy
    $ ./launch.sh --amt=4 15  (4 vehicles, 15x realtime)