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\subsection{A Note on Return Points}

All of the below is FYI regarding how robot return points are set.

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\noindent
In the simulation version of this lab, the vehicle starting positions
were chosen randomly in a manner that ensures they were unique and
separated by a minimum distance. And the return waypoint behavior was
configured to return to its starting position. The return waypoint is
handled a bit differently in the in-water version of the lab.

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\noindent
In the in-water experiments, it is also helpful if the vehicles are
not returning to the same point. And they don't have a "starting
position" as they do in simulation. The unique points are assigned to
each vehicle by their Heron name. For example, \var{eve} returns to
position \var{(4,-11)}. The vehicle \var{ned} returns to \var{(12,
  -8)}. These are set in the \var{meta\_vehicle.bhv} file in a
conditional block that switches base on the detected vehicle name.

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\begin{consoleverb}
#ifdef VNAME abe
	point = 52,9
#elseifdef VNAME ben
	point = 39,4
#elseifdef VNAME cal
	point = 29,0
#elseifdef VNAME deb
	point = 16,-6
#elseifdef VNAME eve
	point = 4,-11
#elseifdef VNAME fin
	point = 2,-15
#elseifdef VNAME max
	point = 26,-2
#elseifdef VNAME ned
	point = 12,-8
#elseifdef VNAME ned
	point = 14,-10
#else	
        point = $(START_POS)
#endif
\end{consoleverb}
\vspace{0.1in}

\noindent
All Herons will have one of these names. The \var{launch\_vehicle.sh}
script, when not running in simulation mode, will automatically detect
which Heron you are in (based on the network configuration which is unique
to each Heron).

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