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\begin{document}

\wikidoc{file=Proj.Decluster}
\wikidoc{auth=filipts@mit.edu}

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\section*{Swarm Declustering}
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\noindent
This goal of this project is to develop a behavior to efficiently and
safely decluster a set of vehicles. In other words, transitioning from
a large cluster of vehicles, with inconvenient and initial position
and pose, to a de-conflicted set of deployed vehicles. We define a set
of vehicles to be declustered when the average risk of collision for
each vehicle is sufficiently low. Part of this project has been to
define a way to calculate this risk. One of the motivations for this
project is to streamline deployments of multi-vehicle missions by
removing the need for manual declustering.

\vspace{0.1in}
\noindent
The proposed algorithm to decluster N vehicles can be summarized in 4 steps:

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/steps4.png}
  \label{fig_steps4}
  \caption{Declustering in four phases.}
\end{figure}


\vspace{0.1in}
\noindent
The algorithm has so far been tested on a fleet of 8 Heron USVs on the
Charles River by MIT.

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/herons.jpeg}
  \label{fig_herons}
  \caption{The Clearpath Robotics Herons used for field testing.}
\end{figure}

\vspace{0.1in}
\noindent
The below provides an example taken from one of many field tests on the
Charles River in Fall of 2024.

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.8\textwidth]{figures/drone_decluster_snap.png}
  \label{fig_drone}
  \caption{One of many field tests on the Charles River in the Fall of 2024.}
  \gif{figures/drone_decluster.gif}
\end{figure}


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

  \var{Status:}   &amp; Ongoing since July 2024 \\ \hline 
  \var{People:}   &amp; Filip Stromstad, Ray Turrisi, Tyler Paine, Mike Benjamin (PI) \\ \hline 
  \var{Sponsors}: &amp; Aker Fellowship (Norway) \\ \hline 
                  &amp; Lockheed Martin \\ \hline 
  \var{Software}: &amp; MOOS-IvP, \urlx{https://moos-ivp.org} \\ \hline 
  \var{Robots}:   &amp; The Clearpath Robotics Heron USV \\ \hline
\end{longtable}
\normalsize


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%\section*{Related Work}

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