//====================================================================
module   = BHV_AvdColregs
type     = Behavior
author   = Michael Benjamin
contact  = mikerb@mit.edu, issues@mit.edu
org      = MIT
thumb    = A behavior for avoiding collision based on CPA and COLREGS considerations.

depends  = 

borndate = 130516
doc_url  = http://oceanai.mit.edu/ivpman/bhvs/AvdColregs
license  = GPL
group    = Helm Behaviors, Core Autonomy
distro   = moos-ivp.org

synopsis = The AvdColregs behavior will produce IvP objective
  functions designed to avoid collisions (and near collisions) with
  another specified vehicle, based on the protocol found in the US
  Coast Guard Collision Regulations (COLREGS). The IvP functions
  produced by this behavior are defined over the domain of posssible
  heading and speed choices. The utility assigned to a point in this
  domain (a heading-speed pair) depends in part on the calculated
  closest point of approach (CPA) between the candidate maneuver leg,
  and the contact leg formed from the contact's position and
  trajectory. A further user-defined utility function is applied to
  the CPA calculation for a candidate maneuver.