Formation ISR

Table of Contents

• Prerequisites
• About Formation ISR

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Prerequisites

Algorithms

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About Formation ISR

Formation ISR has a lead agent performing an area coverage algorithm while followers execute the formation algorithm around the lead agent.

agent.0.command="formation coverage";  // command selection
agent.0.command.size=6;                // number of parameters
agent.0.command.0=0;                   // lead agent
agent.0.command.1=[0,0,0];             // location in formation
agent.0.command.2=[0,1,2,3];           // agents in formation (<num agents>,<comma separated agent list>)
agent.0.command.3="default";           // formation modifier ("rotation" or "default")
agent.0.command.4="urec";              // area coverage algorithm selection
agent.0.command.5="region.0";          // area coverage parameters

agent.1.command="formation coverage";
agent.1.command.size=6;
agent.1.command.0=0;
agent.1.command.1=[4,1.57,0];
agent.1.command.2=[0,1,2,3];
agent.1.command.3="default";
agent.1.command.4="urec";
agent.1.command.5="region.0";

Parameters 0-3 are used in the formation part of this algorithm. Parameter 4 selects the area coverage algorithm that will be used by the lead agent to determine movement. Parameters past 4 are passed to the area coverage algorithm constructor. For example, the above formation coverage commands would map to these commands:

agent.0.command="cover";
agent.0.command.size=2;
agent.0.command.0="urec";
agent.0.command.1="region.0";

Any area coverage algorithm should work, but some may perform better than others. For example, the Minimum Time Area Coverage algorithm considers the last time a cell was observed. Currently, only the lead agent will update the time since a cell was observed. Functionality for considering the cells that the follower agents will observe has not yet been implemented.