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\wikidoc{file=Proj.AdvCOLREGS}
\wikidoc{auth=mikerb@mit.edu}

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\section*{Advanced COLREGS}
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The core MOOS-IvP distribution includes several libraries supporting a
Helm behavior for collision avoidance based on the Coast Guard
Collision Regulations (COLREGS). This code was part of the 2017
release and field tested on several USV platforms in several
countries. The 2019 release included slight improvements over the 2017
release. The Advanced COLREGS project further improves the robustness
and efficiency of the existing publicly released COLREGS behavior, and
to develop an automated testing environment for stress testing the
behavior with multiple simultaneous contacts, static and moving
obstacles, uncooperative contacts and other mitigating mission
factors. It also augments to the underlying math libraries to consider
varying turn characteristics and vessel shapes. The new behavior also
allows for re-structuring of COLREGS rules to account for
collaborating vessel teams that may, for example, always enable the
Rule 14 Head-on rule, but may wish to suspend the Rule 17 Stand-on
rule when travelling in a stable formation.

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%\section*{Quick Facts}
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status}: &amp; Ongoing since August 2019 \\ \hline
  \var{People}: &amp; Mike Benjamin (PI) \\ \hline
  \var{Robots:} &amp; \urlx{https://oceanai.mit.edu/pavlab/robots/herons} \\ \hline
                &amp; \urlx{https://oceanai.mit.edu/pavlab/robots/philos} \\ \hline
  \var{Related Projects:} &amp; Sea Train, Swarm Autonomy Toolbox, MTASC, MOOS-IvP \\ \hline
\end{longtable}
\normalsize


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\section*{Related Publications}

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