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(a) utilizing the classification algorithm provided with the sensor

The focus of today's lab will be on autonomous collaborative
search. The goal will be to develop a two-vehicle mission
configuration where the two vehicles are working together to locate
and identify hazards in a given region. There will be constraints on
the vehicle speed, inter-vehicle comms range, and sensor
characteristics. The end-goal is to make the best educated report on
the location and type of located objects in the search field. The
performance score will be based on a reward/penalty system applied to
correct/incorrect elements of the final report.

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\noindent
In this lab, there are three MOOS apps that are new arrivals to our labs:

\begin{packed_itemize}[2]
\item \app{uFldHazardSensor} - A simulated side-scan sonar sensor.
\item \app{uFldHazardMetric} - An automatic scorer of hazard reports
  w.r.t. ground truth.
\item \app{uFldHazardMgr} - A straw-man vehicle application for managing
  hazard information and reports.
\end{packed_itemize}

\noindent
This complements a few other utilities in the uField Toolbox introduced in 
the previous 2-3 labs. You should have at least a basic understanding of what
each does.

\begin{packed_itemize}[2]
\item \app{uFldMessageHandler} - A MOOS handler for incoming message
  from other vehicles.
\item \app{uFldNodeComms} - A MOOS shoreside arbiter of inter-vehicle
  messages.
\item \app{uFldNodeBroker} - A vehicle-side broker for configuring
  shared information to the shoreside.
\item \app{uFldShoreBroker} - A shoreside broker for configuring
  shared information to the shoreside.
\end{packed_itemize}


The goal of the Collaborative Search lab is to begin exploring the
relationship between autonomy, sensing and communications - the
primary theme of the course.  In this lab, the issue of inter-vehicle
communications is introduced, with the sole limitation being a range
dependency (any two vehicles need be within $N$ meters to be able to
communicate). Other than a range dependency, for now our inter-vehicle
messaging is uninhibited. Later we will introduce restrictions on
message frequency and message bandwidth.

\pskip

In this lab, students are encouraged to work in pairs. Let us know if you
need help in finding a lab partner.


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