//====================================================================
module = pTaskManager
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Manage incoming tasks and bids for decentralized decision-making
synopsis = The pTaskManager app is a broker that resides on any
vehicle participating in decentralized collaborative decision making
with other vehicles. The task manager does four primary things: (1)
Accept registrations for alerts from helm behaviors related to bidding
on tasks. (2) Accept incoming MISSION_TASK messages and spawn helm
behaviors related to bidding on tasks. (3) As a persistent app that
is running during the entire mission, it will monitor incoming task
bids from other vehicles that may arrive prior to the spawning of a
task behavior that needs these bid messages. It retains a cache of
"early-arriving" task bids and re-posts them when the task behavior is
spawned. (4) The task manager monitors outgoing MISSION_TASK messages
and TASK_STATE status messages produced by local task behaviors. It
consolidates this information to generate appcasting output which may
be useful for debugging and monitoring a mission.
distro = moos-ivp.org
group = SwarmBox
borndate = 181202
doc_url = https://oceanai.mit.edu/swarmbox/apps/pTaskManager
license = unreleased
depends = lib_helmtask, lib_apputil, lib_ufield, lib_logic, lib_mbutil
//====================================================================
module = pMediator
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Manage inter-vehcicle messaging, supporting acknowledgements and re-sends
synopsis = The pMediator application is a tool for mediating messages
between vehicles in situations without guaranteed message
arrivals. Outgoing messages may request a return acknowledgement
message (an â€ackâ€), and periodically repeat the message until an ack
is received or time limit or re-send limit has been reached. The
policy for repeating a message may be configured individually per
message type to account for vital messages and nice-to-have
messages. The pMediator app runs on each vehicle and stores local
information to handle outgoing and incoming messages. Handling of
incoming messages involves both sending return acknowledgement
messages and ensuring that no incoming message is posted twice.
distro = moos-ivp.org
group = SwarmBox
borndate = 220214
doc_url = https://oceanai.mit.edu/swarmbox/apps/pMediator
license = unreleased
depends = lib_apputil, lib_mbutil
//====================================================================
module = pEncircle
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Advise the Helm Loiter behavior on speeds relative to contacts
synopsis = The pEncircle app works in conjuction with the Helm Loiter
behavior by posting adjustments to the loiter speed based on ownship
position relative to other contacts also traversing the same loiter
polygon. The goal is to adjust ownship speed to keep the distances
between ownship and the vehicle fore and aft, as similar as
possible. It subscribes for the node reports of ownship and all
contacts and is capable of receiving commands to adjust the applied
algorithm.
distro = moos-ivp.org
group = SwarmBox
borndate = 170327
doc_url = https://oceanai.mit.edu/swarmbox/apps/pEncircle
license = unreleased
depends = lib_apputil, lib_mbutil, lib_contacts, lib_ufield, lib_geometry
//====================================================================
module = BHV_Muster
type = Behavior
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A behavior mustering in a region and keeping separation from others
borndate = 211108
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The Muster behavior drives the vehicle toward a convex
polygon and works in cooperation with other vehicles, presumably
also running a muster behavior with the same polygon. Each vehicle
shares its position with all other vehicles and calculates the Voronoi
distribution of vehicle and drives the vehicle toward the center of
its own local polygon in the distribution.
//====================================================================
module = BHV_TaskMuster
type = Behavior
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A task behavior for auctioning on traversing to a muster region
borndate = 211110
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The TaskMuster behavior is of type IvPTaskBehavior, meaning
its sole job is to generate a bid to a collaborative auction and
wait for a consensus. The bid in this case is based on the relative
appropriateness of ownship proceeding to a muster region.
//====================================================================
module = BHV_TaskWaypoint
type = Behavior
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A task behavior for auctioning on traversing to a destination
borndate = 181205
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The TaskWaypoint behavior is of type IvPTaskBehavior,
meaning its sole job is to generate a bid to a collaborative auction
and wait for a consensus. The bid in this case is based on the
relative appropriateness of ownship proceeding to a destination
point, given the point and the vehicle starting position and
orientation.
//====================================================================
module = BHV_TaskConvoy
type = Behavior
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A task behavior for auctioning on forming a convoy ordering
borndate = 201219
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The TaskConvoy behavior is of type IvPTaskBehavior, meaning
its sole job is to generate a bid to a collaborative auction and
wait for a consensus. The bid in this case is based on the relative
appropriateness of ownship joining a convoy, given the position and
orientation of the tail vehicle in the convoy, and ownship position.
//====================================================================
module = uSimMarineX
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A much faster new version of uSimMarine with embedded PID controller
depends = lib_mbutil, lib_apputil, lib_geometry, lib_contacts, lib_marine_pid
borndate = 200103
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The uSimMarineX application is a simple 3D vehicle
simulator that updates vehicle state, position and trajectory, based
on the present actuator values and prior vehicle state. Typical
usage scenario has a single instance of uSimMarineX associated with
each simulated vehicle. uSimMarineX is a derivative of the original
uSimMarine. This new version has the abililty to embed a PID
controller within the simulator for tighter coordination between sim
and control which allows for much higher time warp simulations. The
PID controller is the same as in pMarinePID. This simulator also has
support for wormholes.
//====================================================================
module = alogmtask
type = Command line utility
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Analyze an alog file for mission task events and resolutions
depends = lib_mbutil, lib_apputil, lib_logutils, lib_helmtask
borndate = 211114
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = Analyze set of vehicle alog files for mission task info.
Normally the alog file for all vehicle are passed as
arguments. Postings to the variable MISSION_TASK are key determining
when a task has been assigned to some sub-set of vehicles. The N
alog files are analyzed to discern when a single task has been posed
to the set of vehicles. The results of the task auction are analyzed
across all N alog files and a single result is shown for each task,
along with the losing bids produce by the other vehicles. The bulk of
this code resides in lib_helmtask. The output of alogmtask and the
appcasting output of uFldTaskMonitor are similar, derived from the
lib_helmtask core classes.
//====================================================================
module = pMarinePIDx
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A refactored PID controller using new utility classes.
depends = lib_mbutil, lib_marine_pid, lib_geometry
borndate = 200103
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = Provides a basic PID controller interface to control heading
speed and depth based on incoming desired heading, speed and
depth objectives and output on rudder, thrust and elevator
fed through three PID controllers. This app differs from its previous
version only in implementation. Most of the logic has been repackaged
into a utility class so that it may optionally be embedded inside
uSimMarineX.
//====================================================================
module = lib_marine_pid
type = Library
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Library holding PID Engine code for embedding in apps using PID control
borndate = 050731
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = This library holds the PIDEngine and ScalarPID classes
which are the primary tools for PID control. They formally existed
with the pMarinePID application. They have been moved to their own
library to (a) allow PID controlled to be embedded in the
uSimMarineX simulator and (b) continue to be used inside the
pMarinePIDx app.
//====================================================================
module = lib_voronoi
type = Library
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Library holding key data structures and utilities for Voronoi apps/behaviors.
borndate = 190919
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = This library holds key classes and utilities for supporting
several apps and behaviors based on the Voronoi family of algorithms.
//====================================================================
module = lib_genpoly
type = Library
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Library representing and handling general non-convex polygons
borndate = 201016
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = This library support computing with non-convex polygons, including
the creation of grids that cover non-convex regions and algorithms for covering
a non-convex polygon with a set of convex polygons.
//====================================================================
module = uFldTaskMonitor
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A shoreside tool for monitoring tasks across a group of vehicles.
borndate = 200103
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The uFldTaskMonitor application is used for providing a
shore-side appcasting summary of tasks that have been received by
each node, and how they have been resolved. It is purely for
monitoring and debugging.
//====================================================================
module = uFldVoronoi
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A shoreside tool for rendering vehicles participating in a Voronoi coverage
depends = lib_mbutil, lib_ufield, lib_contacts, lib_apputil, lib_geometry, lib_voronoi
borndate = 200119
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = A shoreside tool maintaining a current state of all
vehicles reporting node reports to the shoreside. It will repeatedly
build a Voronoi decomposition of the given search region and
generate a Voronoi polygon for each vehicle.
//====================================================================
module = lib_helmtask
type = Library
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = Library of core classes and utilities for task related behaviors and apps
borndate = 181205
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = This library holds the IvPTaskBehavior superclass of all
helm task behaviors, as well as the MissionTask core data structure
and other common classes and functions for task related behaviors
and applications.
//====================================================================
module = pEncircle
type = MOOS App
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = An app to enable balanced encircling with multiple vehicles
depends = lib_mbutil, lib_geometry, lib_ufield, lib_contacts, lib_apputil
borndate = 200119
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = An app used in missions where a vehicle is tasked with
loitering (encircling) a position, along with one or more other
vehicles. This app will note the position of the vehicle in front
and behind and recommend a speed that will keep the vehicle
balanced between the two.
//====================================================================
module = bngview
type = Graphical Engineering Tool
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A GUI app rendering pair of vehicles and several geometric relationships
depends = lib_tiff, lib_fltk, lib_mbutil, lib_ivpbuild, lib_ipfview,
lib_logutils, lib_logic, lib_genutil, lib_helmivp, lib_bhvutil,
lib_behaviors-colregs, lib_behaviors-marine, lib_behaviors,
lib_encounters, lib_marineview, lib_geometry, lib_ufield,
lib_contacts, lib_apputil
borndate = 200119
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = A GUI application that will render two vehicles (ownship
and contact), while displaying certain relative position information
such as range, bearing, relative bearing. It will also confirm key
Boolean relationships such as contact is aft of ownship, ownship is
port of contact etc. It will also calculate projected closest point
of approach, projected crossing geometries, e.g., contact will pass
on ownhip's port side and so on. Much functionality of the CPA engine
is rendered for development and verification in this tool.
//====================================================================
module = gridview
type = Graphical Engineering Tool
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A GUI app for rendering a region/grid, and creating bathymetry map.
depends = lib_tiff, lib_fltk, lib_mbutil, lib_contacts, lib_geometry,
lib_voronoi, lib_genpoly, lib_marineview
borndate = 200417
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The gridview utility renders a region given by a convex or
non-convex polygon. A set of grid cells can be over-laid on this
region. The user can adjust adjust the values inside grid cells and
save to file. The original use for this tool was as a developmen
tool for handling a set of vertices constituting a non-convex
polygon and creating a set of convex polygons that cover the
non-convex polygon region. The tool was dual-purposed to be a tool
for creating artificial bathymetry maps for a given region and grid.
//====================================================================
module = voiview
type = Graphical Engineering Tool
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A GUI app for rendering and testing Voronoi data structures and algorithms
depends = lib_tiff, lib_fltk, lib_mbutil, lib_contacts, lib_geometry, lib_genutil,
lib_genpoly, lib_voronoi, lib_marineview
borndate = 101222
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The voiview utility renders a convex polygon with several
randomly placed interior vertices. It will render the Voronoi
distribution of the vertices and allow the user to step through
variants of Llyod's algorithm to move the vertices to a more
equitable distribution. The user may add or delete vertices and
re-calculate the distribution. This app exercises much of the
Voronoi library code used in the Voronoi based behaviors and apps,
with smaller overhead than full vehicle simulations.
//====================================================================
module = obview
type = Graphical Engineering Tool
author = Michael Benjamin
contact = mikerb@mit.edu
org = MIT
thumb = A GUI app for rendering and testing obstacle avoidance algorithms
depends = lib_tiff, lib_fltk, lib_ivpcore, lib_mbutil, lib_ivpbuild, lib_ipfview,
lib_contacts, lib_geometry, lib_logutils, lib_logic, lib_genutil,
lib_helmivp, lib_apputil, lib_bhvutil, lib_behaviors-colregs,
lib_behaviors-marine, lib_behaviors, lib_encounters, lib_marineview
borndate = 190906
doc_url = Pending
license = Non-public
group = SwarmBox
distro = moos-ivp.org
synopsis = The obview utility renders an obstacle and ship position
and allows the user to manipulate both and observe properties of
their relative position that are key to the AvoidObstacle
behavior. A pop- up window may also be opened to visualize the
objective function created by the AvoidObstacle behavior