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\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_memo_format}
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\begin{document}

\begin{labcover}
\labtitle{Example Mission Saxis}
\vspace{0.1in}
\labdate{January 2022}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
%\labtoc{small}
\end{labcover}

\wikidoc{file=Memo.VVMissionSaxis}
\wikidoc{auth=mikerb@mit.edu}
\wikidoc{toc=false}

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\section{The Saxis Voronoi Mission - Verifying Sensor Field Coverage}

In the \mis{Saxis Voronoi} mission, N=15 vehicles are deployed with
the task of positioning themselves to evenly cover a region given by a
convex polygon. The behaviors are using a Voronoi coverage behavior that
relies only on knowing the position of neighbors. The neighborhood of
communication between vehicles can be much smaller than the coverage
region. Messages between vehicles are very prone to being dropped. 
An example simulation is shown in Figure \ref{fig_v4_saxis} below.


\begin{figure}[H]
  \centering
  \includegraphics[width=0.85\textwidth]{figures/v4_saxis_final.png}
  \caption{{\em The Saxis Voronoi Mission}: A set of vehicles (in this case
    15 vehicles) are dispersed from a single launch area and tasked with
    covering the given convex polygon search region. The metric measured
    in this misison is the collective group performance in terms of uniformity
    in coverage.}
  \label{fig_v4_saxis}
  \urlvideox{http://vimeo.com/539776126}{1:55}
\end{figure}


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