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\wikidoc{file=Robot.Heron}
\wikidoc{auth=mikerb@mit.edu}

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%{\bf The Heron}
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\section*{The Heron}
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\noindent
The Heron is a small unmanned surface vehicle (USV) made by Clearpath
Robotics in Waterloo Canada. MIT has six Herons with plans for addition
vehicles in the Spring of 2021. They are the primary teaching platform
for MIT 2.680 taught each Spring Term since 2012. 

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%\section*{Quick Facts}
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  \var{Size}: &amp; 53.2 x 38.6 x 12.6 in \\ \hline
  \var{Weight}: &amp; 28 kg (62 lbs) \\ \hline
  \var{Sensors}: &amp; GPS, IMU \\ \hline
  \var{Top Speed}: &amp; 1.9 meters / sec \\ \hline
  \var{Battery Life}: &amp; 1-2 hours depending on misssion/speed \\ \hline
  \var{Software:} &amp; Front Seat (ROS/Clearpath), Back Seat RasPi MOOS-IvP \\ \hline
  \var{Further Info:} &amp; \urlx{https://oceanai.mit.edu/herons} \\ \hline
  
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\section*{Current Projects}

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\subsection*{MIT 2.680}

The Herons are the lab vehicles for MIT 2.680 Marine Autonomy, Sensing and
Communications.

\noindent
\urlx{https://oceanai.mit.edu/2.680}.


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\subsection*{DARPA Sea Train}

The Herons are test platforms for the MIT team involved in the DARPA
TTO Sea Train project. Field tests are comprised of four-vehicle convoying
missions with algorithms for mustering and convoying tested with Herons.

\noindent
\urlx{https://oceanai.mit.edu/pavlab/seatrain}.



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\subsection*{Project: IITCHS}

In a collaboration with MIT Lincoln Laboratory, the Herons are used for field
testing multi-vehicle mission planning software using the MIT-LL IITCHS planning
software and MIT's MOOS-IvP autonomy software.

\noindent
\urlx{https://oceanai.mit.edu/pavlab/iitchs}.


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