General Template
====================================

Basic Idea (abstract w/graphic)

Basic concepts/parameters

  - Voronoi field
  - Basic parameters
  - Set point policy/options

Run-state algorithm

  

Objective function creation

Advanced ideas

Advanced parameters/modes

Publications / flags / macros

Example missions

Performance Metrics

Simulation/field results



Muster Outline
====================================

Basic Idea (abstract w/graphic)

Basic concepts/parameters

  - Voronoi field
  - Basic parameters
  - Set point policy/options

Run-state algorithm

  

Objective function creation

Advanced ideas

Advanced parameters/modes

Publications / flags / macros

Example missions

Performance Metrics

Simulation/field results






















Boolean  ownship in poly or out of poly

Double ownship range to poly

double ownship range to setpt

Parameters:
  polygon	
  activate radius
  capture radius