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\begin{document}

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

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\section*{Sea Train}
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The Sea Train project at MIT involves field test evaluation of dynamic
linear convoy algorithms for enabling multiple surface craft to form
a train of vehicles, each following one another. Experiments include
launching of vehicles with arbitrary starting positions, decentralized
inter-vehicle auctions to form convoy ordering. The MOOS-IvP autonomy
codebase in conjuction with modules in the Swarm Autonomy Toolbox, allow
the vehicles form and hold their convoy patterns. The convoy parameters
such as separation distance and convoy speed can be set at either the
mission planning stage or during field exercises via command and control
messages. 

\begin{figure}[ht]
  \centering 
  \includegraphics[width=0.9\textwidth]{figures/seatrain.png}
\label{fig_cover}
\end{figure}

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%\section*{Quick Facts}
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\vspace{0.15in}
\footnotesize
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\begin{longtable}{|r|p{0.76\textwidth}|} \hline

  \var{Status}: &amp; Ongoing since Sept 2020 \\ \hline
  \var{Sponsor(s)}: &amp; DARPA TTO / General Dynamics Applied Physical Sciences \\ \hline
  \var{People}: &amp; Mike Benjamin (PI), Supun Randeni, Tyler Paine \\ \hline
  \var{Robots}: &amp;  \urlx{https://oceanai.mit.edu/herons} \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, Swarm Autonomy Toolbox \\ \hline
  \var{Event Photos:} &amp; \urlx{https://oceanai.mit.edu/media/PavLabSep21/album} \\ \hline
  \var{Event Photos:} &amp; \urlx{https://oceanai.mit.edu/media/Oct1821-SeaTrainTests/album} \\ \hline
  
\end{longtable}
\normalsize


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\section*{Recent Publications}

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