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

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\section*{The MOOS-IvP Swarm Toolbox}
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The Swarm Toolbox is an extension of the MOOS-IvP public codebase
containing a set of prototype libraries, MOOS applications and Helm
behaviors with the focus on set of multi-vehicle, i.e., swarm,
missions, and methods for decentralized task allocation. The toolbox
also contains several logistic utilities for managing and operating
large numbers of vehicles including (a) automated distributed software
version control, (b) mission launch and health status monitoring, and
(c) post-mission automated collection of mission log files and
archiving. The primary mission focus areas are (1) large area
distributed mobile sensing, (2) swarm defense of a high-value asset,
and (3) multi-vehicle linear convoying. The toolbox also contains a
prototype variant of the conventional MOOS-IvP simulator for enabling
simulation up to 400x real-time per vehicle.  This project has high
overlap with the MTASC project which emphasizes the hardware aspect of
swarm simulations.

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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{Sponsors}: &amp; MIT Lincoln Laboratory  \\ \hline
  \var{Prior Sponsors}: &amp; NASA, DARPA, Lockheed Martin, Vecna Robotics \\ \hline
  \var{People}: &amp; Mike Benjamin (PI), Supun Randeni, Tyler Paine \\ \hline
  \var{Software:} &amp; MOOS-IvP public codebase, MOOS-IvP Swarm Toolbox \\ \hline
  \var{Robots:} &amp; \urlx{https://oceanai.mit.edu/pavlab/robots/herons} \\ \hline
  \var{Other Hardware:} &amp; \urlx{https://oceanai.mit.edu/pavlab/proj/mtasc} \\ \hline
  \var{Related Projects:} &amp; Manatee, MTASC, Sea Train \\ \hline
\end{longtable}
\normalsize


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\section*{Recent Publications}

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