diff --git a/missions/avcl/HospitalShipEmDecoy1.Opponent.xml b/missions/avcl/HospitalShipEmDecoy1.Opponent.xml index f519dcc0436d617a826b6003dafa6c0bce4519e5..5cdbc44055fd2b42ca1b9d853c11f0ee99aec1b8 100644 --- a/missions/avcl/HospitalShipEmDecoy1.Opponent.xml +++ b/missions/avcl/HospitalShipEmDecoy1.Opponent.xml @@ -1,10 +1,13 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.0" vehicleName="Opponent small boat" vehicleType="USV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd"> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd"> + <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas" --> <head> <meta name="title" content="HospitalShipEmDecoy1.Opponent.xml"/> <meta name="description" content="AVCL mission where foe plants false flag electromagnetic (EM) decoy devices to provoke blue-on-blue robot swarm attack"/> <meta name="created" content="31 December 2019"/> - <meta name="modified" content="16 July 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/HospitalShipEmDecoyOpponentActions.png"/> @@ -16,57 +19,56 @@ <meta name="license" content="../license.html"/> </head> <body> - <MissionDefinition description="Plant 'false flag' electromagnetic (EM) decoy devices to provoke blue-on-blue robot swarm attack. Although this mission is likely to be manned by human opponents, AVCL representations still work."> - <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> - <AgendaMission> - <GoalList> - <Goal id="HSEMD.Foe.1" title="Search, Observe" description="Find ship, surveil for weaknesses" nextOnSuccess="HSEMD.Foe.2" nextOnFailure="HSEMD.Foe.2" nextOnException="HSEMD.Foe.7"> - <Search datumType="point" requiredPD="0.5"> - <Target name="Hospital Ship" id="HospitalShip" description="Moored or at anchor"/> - </Search> - <OperatingArea id="AssignedOpArea"> - <Point> - <LatitudeLongitude latitude="36.62" longitude="121.506"/> - <!--36°36′11″N 121°53′37″W--> - </Point> - </OperatingArea> - </Goal> - <Goal id="HSEMD.Foe.2" title="Assess, approach" description="Surreptitious entry, harbor or anchorage" nextOnSuccess="HSEMD.Foe.3" nextOnException="HSEMD.Foe.7"> - <Rendezvous description=""> - <TargetVehicleID value="102" description="Opponent Ship"/> - <TargetVehicleID value="103" description="Hospital Ship"/> - <!-- + <Vehicle vehicleName="Opponent small boat" vehicleType="USV"/> + <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> + <MissionAgenda description="Plant 'false flag' electromagnetic (EM) decoy devices to provoke blue-on-blue robot swarm attack. Although this mission is likely to be manned by human opponents, AVCL representations still work."> + <GoalList> + <Goal id="HSEMD.Foe.1" title="Search, Observe" description="Find ship, surveil for weaknesses" nextOnSuccess="HSEMD.Foe.2" nextOnFailure="HSEMD.Foe.2" nextOnException="HSEMD.Foe.7"> + <Search datumType="point" requiredPD="0.5"> + <Target name="Hospital Ship" id="HospitalShip" description="Moored or at anchor"/> + </Search> + <OperatingArea id="AssignedOpArea"> + <Point> + <LatitudeLongitude latitude="36.62" longitude="121.506"/> + <!--36°36′11″N 121°53′37″W--> + </Point> + </OperatingArea> + </Goal> + <Goal id="HSEMD.Foe.2" title="Assess, approach" description="Surreptitious entry, harbor or anchorage" nextOnSuccess="HSEMD.Foe.3" nextOnException="HSEMD.Foe.7"> + <Rendezvous description=""> + <TargetVehicleID value="102" description="Opponent Ship"/> + <TargetVehicleID value="103" description="Hospital Ship"/> + <!-- <TargetVehicleID value="100" description="Launching ship"/> <TargetVehicleID value="101" description="This robot"/> --> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - </Goal> - <Goal id="HSEMD.Foe.3" title="Covertly Board" description="EM spoofing devices attached to topside" nextOnSuccess="HSEMD.Foe.4" nextOnException="HSEMD.Foe.7"> - <MarkTarget title="Attach devices"> - <Marker type="emPinger"/> - <Target name="Hospital Ship" refid="HospitalShip"/> - </MarkTarget> - <OperatingArea refid="AssignedOpArea"/> - </Goal> - <Goal id="HSEMD.Foe.4" title="Standoff, Observe" description="Fall back to safe vantage point" nextOnSuccess="HSEMD.Foe.5" nextOnException="HSEMD.Foe.7"> - <Reposition description="Covert observation location"/> - <OperatingArea refid="AssignedOpArea"/> - </Goal> - <Goal id="HSEMD.Foe.5" title="Initiate Fake Attack" description="Light off false EM spoofing signals" nextOnSuccess="HSEMD.Foe.6" nextOnException="HSEMD.Foe.7"> - <Attack description="False target"/> - <OperatingArea refid="AssignedOpArea"/> - </Goal> - <Goal id="HSEMD.Foe.6" title="Observe Reaction" description="Monitor response, assess damage" nextOnSuccess="HSEMD.Foe.7" nextOnException="HSEMD.Foe.7"> - <MonitorTransmissions description="All responses"/> - </Goal> - <Goal id="HSEMD.Foe.7" title="Evade, Escape" description="Avoid detection, depart locale - Terminal condition "> - <Reposition description="Perform any periodic requirements"> - <!--TODO should be agendaGoalType allowing OperatingArea--> - </Reposition> - </Goal> - </GoalList> - </AgendaMission> - </MissionDefinition> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + </Goal> + <Goal id="HSEMD.Foe.3" title="Covertly Board" description="EM spoofing devices attached to topside" nextOnSuccess="HSEMD.Foe.4" nextOnException="HSEMD.Foe.7"> + <MarkTarget title="Attach devices"> + <Marker type="emPinger"/> + <Target name="Hospital Ship" refid="HospitalShip"/> + </MarkTarget> + <OperatingArea refid="AssignedOpArea"/> + </Goal> + <Goal id="HSEMD.Foe.4" title="Standoff, Observe" description="Fall back to safe vantage point" nextOnSuccess="HSEMD.Foe.5" nextOnException="HSEMD.Foe.7"> + <Reposition description="Covert observation location"/> + <OperatingArea refid="AssignedOpArea"/> + </Goal> + <Goal id="HSEMD.Foe.5" title="Initiate Fake Attack" description="Light off false EM spoofing signals" nextOnSuccess="HSEMD.Foe.6" nextOnException="HSEMD.Foe.7"> + <Attack description="False target"/> + <OperatingArea refid="AssignedOpArea"/> + </Goal> + <Goal id="HSEMD.Foe.6" title="Observe Reaction" description="Monitor response, assess damage" nextOnSuccess="HSEMD.Foe.7" nextOnException="HSEMD.Foe.7"> + <MonitorTransmissions description="All responses"/> + </Goal> + <Goal id="HSEMD.Foe.7" title="Evade, Escape" description="Avoid detection, depart locale - Terminal condition "> + <Reposition description="Perform any periodic requirements"> + <!--TODO should be agendaGoalType allowing OperatingArea--> + </Reposition> + </Goal> + </GoalList> + </MissionAgenda> </body> -</AVCL> +</AVCL> \ No newline at end of file diff --git a/missions/avcl/HospitalShipEmDecoy2.Defender.SenseDecideAct.xml b/missions/avcl/HospitalShipEmDecoy2.Defender.SenseDecideAct.xml index 84c1dd16cdf099be4b9ebd5c7f6d44ba471fdcab..24b2b6eddae14468f7982c5c910e3e013d35793f 100644 --- a/missions/avcl/HospitalShipEmDecoy2.Defender.SenseDecideAct.xml +++ b/missions/avcl/HospitalShipEmDecoy2.Defender.SenseDecideAct.xml @@ -1,10 +1,10 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" vehicleName="Unit in defensive swarm" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> <head> <meta name="title" content="HospitalShipEmDecoy2.Defender.SenseDecideAct.xml"/> <meta name="description" content="AVCL mission where immediate reaction using Sense-Decide-Act cycle results in blue-on-blue robot swarm attack and unintended war crime."/> <meta name="created" content="1 January 2020"/> - <meta name="modified" content="16 July 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/HospitalShipEmDecoyRobotResponses.png"/> @@ -16,10 +16,10 @@ <meta name="license" content="../license.html"/> </head> <body> - <MissionDefinition description="Immediate reaction using Sense-Decide-Act cycle results in blue-on-blue war crime."> - <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> - <AgendaMission> - <GoalList> + <Vehicle vehicleName="Unit in defensive swarm" vehicleType="UAV"/> + <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> + <MissionAgenda description="Immediate reaction using Sense-Decide-Act cycle results in blue-on-blue war crime."> + <GoalList> <Goal id="HSEMD.reflex.11" title="Attack Response Thresholds Set" description="Signal strength needed for close-proximity activation" phase="Configure" nextOnSuccess="HSEMD.reflex.12" nextOnFailure="HSEMD.reflex.12" nextOnException="HSEMD.reflex.99.0"> <!-- Configuration --> <OperatingArea id="AssignedOpArea"> @@ -56,7 +56,6 @@ <!--Group 99 has common objective: Global Default Exception and terminal state--> <Goal id="HSEMD.reflex.99.0" title="Proceed to recovery" description="Mission complete, prepare for pickup. Terminal condition." phase="Robot Recovery"/> </GoalList> - </AgendaMission> - </MissionDefinition> + </MissionAgenda> </body> </AVCL> diff --git a/missions/avcl/HospitalShipEmDecoy3.Defender.EthicalControlOODA.xml b/missions/avcl/HospitalShipEmDecoy3.Defender.EthicalControlOODA.xml index 0b162af74e15e8fc8d5d6b40715c57553ec214c2..387167f276c5c37947b9bd489f704a5fd776422b 100644 --- a/missions/avcl/HospitalShipEmDecoy3.Defender.EthicalControlOODA.xml +++ b/missions/avcl/HospitalShipEmDecoy3.Defender.EthicalControlOODA.xml @@ -1,10 +1,10 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" vehicleName="Unit in defensive swarm" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> <head> <meta name="title" content="HospitalShipEmDecoy3.Defender.EthicalControlOODA.xml"/> <meta name="description" content="AVCL mission where Orient-Observe-Decide-Act (OODA) loop tactics and Ethical Control constraints prevent automatic erroneous counterattack against 'false flag' placed on friendly ship, and thus improves defense."/> <meta name="created" content="1 January 2020"/> - <meta name="modified" content="16 July 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://en.wikipedia.org/wiki/False_flag"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> @@ -17,10 +17,10 @@ <meta name="license" content="../license.html"/> </head> <body> - <MissionDefinition description="Ethical Control constraints prevent automatic counterattack, accelerates defense."> - <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> - <AgendaMission> - <GoalList> + <Vehicle vehicleName="Unit in defensive swarm" vehicleType="UAV"/> + <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> + <MissionAgenda description="Ethical Control constraints prevent automatic counterattack, accelerates defense."> + <GoalList> <Goal id="HSEMD.OODA.21" title="Attack Response Thresholds Set" description="Signal strength needed for close-proximity activation" phase="Configure" nextOnSuccess="HSEMD.OODA.22" nextOnFailure="HSEMD.OODA.22" nextOnException="HSEMD.OODA.99.0"> <!-- Configuration --> <OperatingArea id="AssignedOpArea"> @@ -74,7 +74,6 @@ <!--Group 99 has common objective: Global Default Exception and terminal state--> <Goal id="HSEMD.OODA.99.0" title="Proceed to recovery" description="Mission complete, prepare for pickup. Terminal condition." phase="Robot Recovery"/> </GoalList> - </AgendaMission> - </MissionDefinition> + </MissionAgenda> </body> </AVCL> diff --git a/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml b/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml index a12b0d78a827ab2e2fe3711687b281ef7ccdb2a6..690b0274da19d4dae01373c6bca968c8cc8d17cb 100644 --- a/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml +++ b/missions/avcl/IS3460/AvclMissionGoalsTemplate.xml @@ -1,12 +1,14 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd"> - <!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" --> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd"> <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas" --> + <head> <meta name="title" content="AvclMissionGoalsTemplate.xml"/> <meta name="description" content="Example mission to serve as template for new versions."/> <meta name="created" content="4 August 2022"/> - <meta name="modified" content="31 August 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> @@ -51,13 +53,13 @@ </Goal> <Duration value="6000"/> </GoalList> - <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> - <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> - </LaunchPosition> - <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> - <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> - <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> - </RecoveryPosition> </MissionAgenda> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> + <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> + </RecoveryPosition> </body> </AVCL> \ No newline at end of file diff --git a/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml index 4403aad1c00807b8e7efbb4291ab9d81448f7291..60b194b6bf335621daf60eba71098ce5a13daa6e 100644 --- a/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml +++ b/missions/avcl/IS3460/CoffeeSearchRetrievalMission.xml @@ -1,12 +1,13 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd"> - <!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" --> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd"> <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd" --> <head> <meta name="title" content="CoffeeSearchRetrievalMission.xml"/> <meta name="description" content="Simple mission: send drone to get a cup of coffee and bring it back to classroom."/> <meta name="created" content="4 August 2022"/> - <meta name="modified" content="8 August 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> @@ -54,13 +55,13 @@ </Goal> <Duration value="6000"/> </GoalList> - <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> - <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> - </LaunchPosition> - <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> - <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> - <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> - </RecoveryPosition> </MissionAgenda> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> + <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> + </RecoveryPosition> </body> </AVCL> \ No newline at end of file diff --git a/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionAVCL.xml b/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionAVCL.xml index 18e8122671d49cefec3d00bc972fe0352a709eba..e6e8eec5aca3184094e20bc954ab231692a0663b 100644 --- a/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionAVCL.xml +++ b/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionAVCL.xml @@ -1,12 +1,14 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd"> - <!-- xsi:noNamespaceSchemaLocation="C:\x-nps-gitlab\EthicalControl\schemas/AVCL.3.1.xsd" --> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd"> <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas" --> + <head> <meta name="title" content="LpvTransPacificReplenishmentMissionAVCL.xml"/> <meta name="description" content="Example mission for Low Profile Vehicle (LPV) voyaging across Pacific Ocean for expeditionary logistics resupply. Contested logistics can be supported by LPVs that provide essential equipment and supplies to USMC expeditionary forces operating an EABO mission set. For a surge capability, running one might be similar to running thousands."/> <meta name="created" content="21 August 2023"/> - <meta name="modified" content="22 August 2023"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman, Sergio Sierra, IS3460 class"/> <meta name="reference" content="https://www.savage.nps.edu/EthicalControl"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> @@ -65,13 +67,13 @@ </Goal> <Duration value="6000"/> </GoalList> - <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> - <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> - </LaunchPosition> - <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> - <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> - <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> - </RecoveryPosition> </MissionAgenda> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude id="MemsStation" latitude="N33°12.889'" longitude="W117°23.915'"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <!-- TODO refid="MemsStation" not working since latitude, longitude are required attributes --> + <LatitudeLongitude id="MemsStation2" latitude="N33°12.889'" longitude="W117°23.915'"/> + </RecoveryPosition> </body> </AVCL> \ No newline at end of file diff --git a/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionDiagram.vsdx b/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionDiagram.vsdx index 676150bfd372e0785ec5ad4290470ccbd1bc8bc0..d1e08b494a51f3b27653f8667a892a1f518d4e2c 100644 Binary files a/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionDiagram.vsdx and b/missions/avcl/IS3460/LpvTransPacificReplenishmentMissionDiagram.vsdx differ diff --git a/missions/avcl/LifeboatTracking.xml b/missions/avcl/LifeboatTracking.xml index 14532fd310b98a8975da02a8932ce6599f657fc8..4ea84d941db7d1b9a32af955e11bcf8bf6abd8c1 100644 --- a/missions/avcl/LifeboatTracking.xml +++ b/missions/avcl/LifeboatTracking.xml @@ -1,10 +1,13 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd"> + <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas" --> <head> <meta name="title" content="LifeboatTracking.xml"/> <meta name="description" content="AVCL mission to provide remote presence for locating, tracking, communications and beaconing an adrift lifeboat."/> <meta name="created" content="26 December 2019"/> - <meta name="modified" content="16 July 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/LifeboatTrackingMission.png"/> @@ -15,153 +18,152 @@ <meta name="license" content="../license.html"/> </head> <body> - <MissionDefinition description="Provide remote presence for locating, tracking, communications and beaconing to an adrift lifeboat."> - <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> - <AgendaMission> - <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> - <LatitudeLongitude latitude="0" longitude="0"/> - </LaunchPosition> - <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> - <LatitudeLongitude latitude="0" longitude="0"/> - </RecoveryPosition> - <GoalList> - <!-- Commence operations --> - <Goal id="LBT1.0" title="Deploy, Launch" description="Commit to robot support" phase="Launch" nextOnSuccess="LBT2.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> - <Rendezvous description=""> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Lifeboat"/> - </Rendezvous> - <OperatingArea id="AssignedOpArea"> - <Point> - <LatitudeLongitude latitude="36.62" longitude="121.506"/> - <!--36°36′11″N 121°53′37″W--> - </Point> - </OperatingArea> - <Duration value="300"/> - <ReportingCriteria value="onCommence"/> - <ReportingCriteria value="periodic"/> - <ReportingCriteria value="statusChanged"/> - <ReportingCriteria value="onComplete"/> - </Goal> - <Goal id="LBT2.0" title="Transit to search area" description="Proceed to estimated position" phase="Transit" nextOnSuccess="LBT3.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> - <Search datumType="point" requiredPD="0.5"> - <Target name="Sailor in water" id="SailorInWater"/> - </Search> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <!-- Group 3 Locate Lifeboat has common objective, exception --> - <Goal id="LBT3.0" title="Locate Lifeboat" description="Follow best search pattern" phase="Locate" nextOnSuccess="LBT3.1" nextOnFailure="LBT2.0" nextOnException="LBT99.0"> - <Rendezvous description=""> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Lifeboat"/> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT3.1" title="Report position" description="Alerts updated" phase="Locate" nextOnSuccess="LBT3.2" nextOnFailure="LBT4.0" nextOnException="LBT99.0"> - <MonitorTransmissions title="Send initial position report"/> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT3.2" title="Mark with Beacon" description="Monitor wind effects and ocean current" phase="Locate" nextOnSuccess="LBT4.0" nextOnFailure="LBT4.0" nextOnException="LBT99.0"> - <MarkTarget description="TODO ensure beacon/pinger in water"> - <Marker type="dyeMarker"/> - <Target name="Lifeboat found" id="LifeboatFound"/> - </MarkTarget> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <!-- Group 4 Track Lifeboat has common objective and exception, includes loops--> - <Goal id="LBT4.0" title="Track Lifeboat" description="Monitor and communicate" phase="Track" nextOnSuccess="LBT4.1" nextOnException="LBT99.0"> - <Search datumType="point" requiredPD="0.5" description="Track lifeboat"/> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT4.1" title="Maintain proximity" description="Overhead or afloat nearby" phase="Track" nextOnSuccess="LBT4.2" nextOnException="LBT99.0"> - <Rendezvous description="Safe standoff distance"> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Lifeboat"/> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT4.2" title="Periodic reports" description="Popup or float to report, also recharge" phase="Track" nextOnSuccess="LBT4.3" nextOnException="LBT99.0"> - <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT4.3" title="Continue" description="Repeat until conditions change" phase="Track" nextOnSuccess="LBT5.0" nextOnFailure="LBT7.0" nextOnException="LBT99.0"> - <Patrol description="Perform any periodic requirements"> - <!--TODO should be agendaGoalType allowing OperatingArea--> - </Patrol> - </Goal> - <Goal id="LBT5.0" title="Check relieved by other asset" description="Task update received?" phase="Mission Finish" nextOnSuccess="LBT99.0" nextOnFailure="LBT4.0" nextOnException="LBT99.0"> - <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/> - <!--Branch point: note possible human override checked prior to looping.--> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <!-- Group 6 Low Fuel has common objective, exception--> - <Goal id="LBT6.0" title="Low Fuel" description="Make best effort possible" phase="Mission Finish" nextOnSuccess="LBT6.1" nextOnException="LBT99.0"> - <Reposition title="Prepare to finish"/> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT6.1" title="Remain with lifeboat?" description="Choices: land on boat, attach to boat, or adrift nearby" phase="Mission Finish" nextOnSuccess="LBT6.2" nextOnException="LBT99.0"> - <Rendezvous title="Attach Land or Adrift" description="as close as advisable"> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Lifeboat"/> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT6.2" title="Beacon?" description="While power remains" phase="Mission Finish" nextOnSuccess="LBT99.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> - <MarkTarget description="TODO ensure beacon/pinger in water"> - <Marker type="dyeMarker"/> - <Target name="Lifeboat last known location" id="LifeboatLastKnownLocation"/> - </MarkTarget> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT7.0" title="Request Guidance?" description="Need updated position" phase="Transit" nextOnSuccess="LBT2.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> - <MonitorTransmissions title="Request Guidance" description="Active transmission allowed, subject to EMCON"/> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <!-- *Recovery Phase*--> - <!--Group 99 Recovery has common objective: Global Default Exception and terminal states--> - <Goal id="LBT99.0" title="Proceed to recovery" description="Mission complete, prepare for pickup" phase="Recover Robot" nextOnSuccess="LBT99.1" nextOnFailure="LBT99.2" nextOnException="LBT99.3"> - <Reposition description="Return to ship or other recovery point"/> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="6000"/> - </Goal> - <Goal id="LBT99.1" title="Halt and prepare for recovery" description="Operations completed, final success state" phase="Recover Robot"> - <Rendezvous description="Recovery by ship"> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Recovery ship"/> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="0"/> - </Goal> - <Goal id="LBT99.2" title="Halt and deploy recovery beacon" description="Unable to operate, final failure state" phase="Recover Robot"> - <Rendezvous description="Recovery by ship"> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Recovery ship"/> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="0"/> - </Goal> - <Goal id="LBT99.3" title="Halt and await further orders" description="Unplanned failure, final exception state" phase="Recover Robot"> - <Rendezvous description="Recovery by ship"> - <TargetVehicleID value="101" description="This robot"/> - <TargetVehicleID value="102" description="Recovery ship"/> - </Rendezvous> - <OperatingArea refid="AssignedOpArea"/> - <Duration value="0"/> - </Goal> - </GoalList> - </AgendaMission> - </MissionDefinition> + <Vehicle vehicleName="RescueDrone" vehicleType="UAV"/> + <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> + <MissionAgenda description="Provide remote presence for locating, tracking, communications and beaconing to an adrift lifeboat."> + <GoalList> + <!-- Commence operations --> + <Goal id="LBT1.0" title="Deploy, Launch" description="Commit to robot support" phase="Launch" nextOnSuccess="LBT2.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> + <Rendezvous description=""> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Lifeboat"/> + </Rendezvous> + <OperatingArea id="AssignedOpArea"> + <Point> + <LatitudeLongitude latitude="36.62" longitude="121.506"/> + <!--36°36′11″N 121°53′37″W--> + </Point> + </OperatingArea> + <ReportingCriteria value="onCommence"/> + <ReportingCriteria value="periodic"/> + <ReportingCriteria value="statusChanged"/> + <ReportingCriteria value="onComplete"/> + <Duration value="300"/> + </Goal> + <Goal id="LBT2.0" title="Transit to search area" description="Proceed to estimated position" phase="Transit" nextOnSuccess="LBT3.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> + <Search datumType="point" requiredPD="0.5"> + <Target name="Sailor in water" id="SailorInWater"/> + </Search> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <!-- Group 3 Locate Lifeboat has common objective, exception --> + <Goal id="LBT3.0" title="Locate Lifeboat" description="Follow best search pattern" phase="Locate" nextOnSuccess="LBT3.1" nextOnFailure="LBT2.0" nextOnException="LBT99.0"> + <Rendezvous description=""> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Lifeboat"/> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT3.1" title="Report position" description="Alerts updated" phase="Locate" nextOnSuccess="LBT3.2" nextOnFailure="LBT4.0" nextOnException="LBT99.0"> + <MonitorTransmissions title="Send initial position report"/> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT3.2" title="Mark with Beacon" description="Monitor wind effects and ocean current" phase="Locate" nextOnSuccess="LBT4.0" nextOnFailure="LBT4.0" nextOnException="LBT99.0"> + <MarkTarget description="TODO ensure beacon/pinger in water"> + <Marker type="dyeMarker"/> + <Target name="Lifeboat found" id="LifeboatFound"/> + </MarkTarget> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <!-- Group 4 Track Lifeboat has common objective and exception, includes loops--> + <Goal id="LBT4.0" title="Track Lifeboat" description="Monitor and communicate" phase="Track" nextOnSuccess="LBT4.1" nextOnException="LBT99.0"> + <Search datumType="point" requiredPD="0.5" description="Track lifeboat"/> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT4.1" title="Maintain proximity" description="Overhead or afloat nearby" phase="Track" nextOnSuccess="LBT4.2" nextOnException="LBT99.0"> + <Rendezvous description="Safe standoff distance"> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Lifeboat"/> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT4.2" title="Periodic reports" description="Popup or float to report, also recharge" phase="Track" nextOnSuccess="LBT4.3" nextOnException="LBT99.0"> + <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT4.3" title="Continue" description="Repeat until conditions change" phase="Track" nextOnSuccess="LBT5.0" nextOnFailure="LBT7.0" nextOnException="LBT99.0"> + <Patrol description="Perform any periodic requirements"> + <!--TODO should be agendaGoalType allowing OperatingArea--> + </Patrol> + </Goal> + <Goal id="LBT5.0" title="Check relieved by other asset" description="Task update received?" phase="Mission Finish" nextOnSuccess="LBT99.0" nextOnFailure="LBT4.0" nextOnException="LBT99.0"> + <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/> + <!--Branch point: note possible human override checked prior to looping.--> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <!-- Group 6 Low Fuel has common objective, exception--> + <Goal id="LBT6.0" title="Low Fuel" description="Make best effort possible" phase="Mission Finish" nextOnSuccess="LBT6.1" nextOnException="LBT99.0"> + <Reposition title="Prepare to finish"/> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT6.1" title="Remain with lifeboat?" description="Choices: land on boat, attach to boat, or adrift nearby" phase="Mission Finish" nextOnSuccess="LBT6.2" nextOnException="LBT99.0"> + <Rendezvous title="Attach Land or Adrift" description="as close as advisable"> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Lifeboat"/> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT6.2" title="Beacon?" description="While power remains" phase="Mission Finish" nextOnSuccess="LBT99.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> + <MarkTarget description="TODO ensure beacon/pinger in water"> + <Marker type="dyeMarker"/> + <Target name="Lifeboat last known location" id="LifeboatLastKnownLocation"/> + </MarkTarget> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT7.0" title="Request Guidance?" description="Need updated position" phase="Transit" nextOnSuccess="LBT2.0" nextOnFailure="LBT99.0" nextOnException="LBT99.0"> + <MonitorTransmissions title="Request Guidance" description="Active transmission allowed, subject to EMCON"/> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <!-- *Recovery Phase*--> + <!--Group 99 Recovery has common objective: Global Default Exception and terminal states--> + <Goal id="LBT99.0" title="Proceed to recovery" description="Mission complete, prepare for pickup" phase="Recover Robot" nextOnSuccess="LBT99.1" nextOnFailure="LBT99.2" nextOnException="LBT99.3"> + <Reposition description="Return to ship or other recovery point"/> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="6000"/> + </Goal> + <Goal id="LBT99.1" title="Halt and prepare for recovery" description="Operations completed, final success state" phase="Recover Robot"> + <Rendezvous description="Recovery by ship"> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Recovery ship"/> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="0"/> + </Goal> + <Goal id="LBT99.2" title="Halt and deploy recovery beacon" description="Unable to operate, final failure state" phase="Recover Robot"> + <Rendezvous description="Recovery by ship"> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Recovery ship"/> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="0"/> + </Goal> + <Goal id="LBT99.3" title="Halt and await further orders" description="Unplanned failure, final exception state" phase="Recover Robot"> + <Rendezvous description="Recovery by ship"> + <TargetVehicleID value="101" description="This robot"/> + <TargetVehicleID value="102" description="Recovery ship"/> + </Rendezvous> + <OperatingArea refid="AssignedOpArea"/> + <Duration value="0"/> + </Goal> + </GoalList> + </MissionAgenda> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude latitude="0" longitude="0"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <LatitudeLongitude latitude="0" longitude="0"/> + </RecoveryPosition> </body> </AVCL> \ No newline at end of file diff --git a/missions/avcl/PiratesSeizingMerchantDefense.xml b/missions/avcl/PiratesSeizingMerchantDefense.xml index af840d30c0843a187d70d67f5f6923f57c27b414..8f65b9b0a065450ce00c4baaa3ee2c90f06c188e 100644 --- a/missions/avcl/PiratesSeizingMerchantDefense.xml +++ b/missions/avcl/PiratesSeizingMerchantDefense.xml @@ -1,11 +1,11 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.1.xsd"> <!-- vehicleType="USV" is also possible --> <head> <meta name="title" content="PiratesSeizingMerchantDefense.xml"/> <meta name="description" content="AVCL mission to overtake pirate small-boat gang attempting to capture threatened merchant ship, provide warning and counterattack if escalation of hostilities is warranted."/> <meta name="created" content="27 December 2019"/> - <meta name="modified" content="16 July 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> <meta name="reference" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/PiratesSeizingMerchantDefense.png"/> @@ -16,16 +16,16 @@ <meta name="license" content="../license.html"/> </head> <body> - <MissionDefinition description="Approach: Overtake pirate small-boat gang attempting to capture threatened merchant ship. Escalation: Warn pirate small-boat gang to stand down and move away, otherwise lethal force imminent. CounterAttack: force pirate small-boat gang withdrawal from threatened merchant ship."> - <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> - <AgendaMission> - <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> - <LatitudeLongitude latitude="0" longitude="0"/> - </LaunchPosition> - <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> - <LatitudeLongitude latitude="0" longitude="0"/> - </RecoveryPosition> - <GoalList> + <Vehicle vehicleName="RescueDrone" vehicleType="UAV"/> + <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude latitude="0" longitude="0"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <LatitudeLongitude latitude="0" longitude="0"/> + </RecoveryPosition> + <MissionAgenda description="Approach: Overtake pirate small-boat gang attempting to capture threatened merchant ship. Escalation: Warn pirate small-boat gang to stand down and move away, otherwise lethal force imminent. CounterAttack: force pirate small-boat gang withdrawal from threatened merchant ship."> + <GoalList> <!--*Initiation Phase* to commence operations--> <Goal id="PSMD11.0" title="Deploy, Launch" description="Commit to robot support" phase="Launch" nextOnSuccess="PSMD12.0" nextOnFailure="PSMD99.0" nextOnException="PSMD99.0"> <Rendezvous description=""> @@ -43,10 +43,6 @@ </Point> </OperatingArea> <Duration value="300"/> - <ReportingCriteria value="onCommence"/> - <ReportingCriteria value="periodic"/> - <ReportingCriteria value="statusChanged"/> - <ReportingCriteria value="onComplete"/> </Goal> <!--*Approach Phase* to overtake pirate small-boat gang attempting to capture threatened merchant ship--> <Goal id="PSMD12.0" title="Transit to hostile area" description="Proceed to estimated position" phase="Transit" nextOnSuccess="PSMD13.0" nextOnFailure="PSMD99.0" nextOnException="PSMD99.0"> @@ -298,8 +294,11 @@ <OperatingArea refid="AssignedOpArea"/> <Duration value="0"/> </Goal> + <ReportingCriteria value="onCommence"/> + <ReportingCriteria value="periodic"/> + <ReportingCriteria value="statusChanged"/> + <ReportingCriteria value="onComplete"/> </GoalList> - </AgendaMission> - </MissionDefinition> + </MissionAgenda> </body> </AVCL> diff --git a/missions/avcl/SailorOverboard3.1.xml b/missions/avcl/SailorOverboard3.1.xml index 117f606e1f3f4c3ec012c5e07ad4be2dd874f2b7..e62ea800c8ce819fd3014b80d93c2d3890c8155c 100644 --- a/missions/avcl/SailorOverboard3.1.xml +++ b/missions/avcl/SailorOverboard3.1.xml @@ -1,10 +1,13 @@ <?xml version="1.0" encoding="UTF-8"?> -<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd"> +<AVCL version="3.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas\AVCL.3.1.xsd"> + <!-- xsi:noNamespaceSchemaLocation="https://savage.nps.edu/EthicalControl/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="https://gitlab.nps.edu/Savage/EthicalControl/-/raw/master/schemas/AVCL.3.1.xsd" --> + <!-- xsi:noNamespaceSchemaLocation="C:\x3d-nps-gitlab\NetworkOptionalWarfare\EthicalControl\schemas" --> <head> <meta name="title" content="SailorOverboard3.1.xml"/> <meta name="description" content="AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures. Test mission for AVCL revision version 3.1."/> <meta name="created" content="19 November 2019"/> - <meta name="modified" content="16 July 2022"/> + <meta name="modified" content="30 August 2023"/> <meta name="creator" content="Don Brutzman"/> <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/> <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/SailorOverboard8PhaseMission.png"/> @@ -18,12 +21,6 @@ <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/> <!-- TODO Vehicle vehicleName="RescueDrone" vehicleType="UAV" --> <MissionAgenda description="Single unmanned air/surface vehicle actions to complement human response when performing “SAILOR OVERBOARD†operations, carried out in concert with shipboard emergency procedures. Multiple UAVs/USVs can be employed in parallel with ships/aircraft, each following mission orders."> - <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> - <LatitudeLongitude latitude="0" longitude="0"/> - </LaunchPosition> - <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> - <LatitudeLongitude latitude="0" longitude="0"/> - </RecoveryPosition> <GoalList> <Goal id="Goal1" title="Deploy, Launch" description="Sailor Overboard Immediate Action" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal7" nextOnException="Goal8"> <Rendezvous description=""> @@ -36,11 +33,11 @@ <!--36°36′11″N 121°53′37″W--> </Point> </OperatingArea> - <Duration value="300"/> <ReportingCriteria value="onCommence"/> <ReportingCriteria value="periodic"/> <ReportingCriteria value="statusChanged"/> <ReportingCriteria value="onComplete"/> + <Duration value="300"/> </Goal> <Goal id="Goal2" title="Rendezvous with Sailor" description="Go directly to best known location" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal3" nextOnException="Goal5"> <Search datumType="point" requiredPD="0.5"> @@ -125,5 +122,11 @@ </Goal> </GoalList> </MissionAgenda> + <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched"> + <LatitudeLongitude latitude="0" longitude="0"/> + </LaunchPosition> + <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot"> + <LatitudeLongitude latitude="0" longitude="0"/> + </RecoveryPosition> </body> </AVCL> \ No newline at end of file