OpenUxAS-SoI/examples/99_Tasks/AngledAreaSearchTask

Angled Area Search Task

The angled area search task is an area search task with a specified sweep angle.

Files:

• cfg_AngledAreaSearchTask.xml - The UxAS configuration file for this example. This configuration file sets up the services and bridges.
• runUxAS_AngledAreaSearchTask.py - This script runs UxAS with the details in the UxAS configuration file
• runAMASE_AngledAreaSearchTask.py - This script runs AMASE with the AMASE configuration file.
• Scenario_AngledAreaSearchTask.xml - The AMASE configuration file for this example.
• MessagesToSend/ - Contains the messages send by UxAS with the send messages service.
• MessagesToSend/AirVehicleConfiguration_V101.xml - Details for air vehicle 101.
• MessagesToSend/AirVehicleState_V101.xml - Air vehicle 101's initial state.
• MessagesToSend/AngledAreaSearchTask_100.xml - The angled area search task that will be performed by vehicle 101.
• MessagesToSend/AreaOfInterest_1.xml - The area of interest that will be searched in the angled area search task.
• MessagesToSend/AutomationRequest_AngledAreaSearchTask.xml - The automation request for the angled area search task

Running the example:

1. Open a terminal window in the directory: "examples/tasks/AngledAreaSearchTask"
2. enter the command python3 runUxAS_AngledAreaSearchTask.py or ./runUxAS_AngledAreaSearchTask.py
3. open another terminal window in the directory: "examples/tasks/AngledAreaSearchTask"
4. enter the command python3 runAMASE_AngledAreaSearchTask.py or ./runAMASE_AngledAreaSearchTask.py
5. start the AMASE simulation (i.e. press the play button)

What happens?

• When the AMASE simulation starts, UAV 101 will be initialized and begin flying east.
• After 1.2 seconds the automation request is sent and UxAS begins the mission
• Once the plans have been calculated, UAV 101 will being performing the angled area search task.