OpenUxAS-SoI/examples/99_Tasks/EscortTask

Escort Task

A task for targeting surveillance at an offset of a moving entity. This can be used to scout ahead or behind a convoy.

Files:

• cfg_EscortTask.xml - The UxAS configuration file for this example. This configuration file sets up the services and bridges.
• runUxAS_EscortTask.py - This script runs UxAS with the details in the UxAS configuration file
• runAMASE_EscortTask.py - This script runs AMASE with the AMASE configuration file.
• Scenario_EscortTask.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/AirVehicleConfiguration_V102.xml - Details for air vehicle 102.
• MessagesToSend/AirVehicleState_V102.xml - Air vehicle 102's initial state.
• MessagesToSend/AirVehicleConfiguration_V103.xml - Details for air vehicle 103.
• MessagesToSend/AirVehicleState_V103.xml - Air vehicle 103's initial state.
• MessagesToSend/ImpactLineSearchTask_100.xml - A line search task for vehicle 101 to perform.
• MessagesToSend/AutomationRequest_LineSearchTask.xml - The automation request for the line search task.
• MessagesToSend/EscortTask_Ahead_200.xml - A task to escort ahead of air vehicle 101.
• MessagesToSend/AutomationRequest_EscortTask_Ahead.xml - The automation request for the escort ahead task.
• MessagesToSend/EscortTask_Ahead_300.xml - A task to escort behind air vehicle 101.
• MessagesToSend/AutomationRequest_EscortTask_Behind.xml - The automation request for the escort behind task.

Running the example:

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

What happens?

• When the AMASE simulation starts, vehicles 101, 102, and 103 will be initialized and begin flying east.
• After 1.5 seconds, an automation request for the point search task is sent.
• Once plan have been calculated, UAV 103 will being performing the point search task.
• After 9 seconds, an automation request for the Escort task is sent.
• Once plans have been calculated, vehicles 101 and 102 will begin the Escort task.