Assurance-based Learning-enabled Cyber-Physical Systems

This simulation presents a waypoint following scenario, with a Flight Data Recorder spawned inside the waypoints covered area (marked with red square). UUV completes mission, while gathering FDR receiver data. After the mission is completed, UUV estimates FDR position, spawns a new waypoint (white sphere), goes there and loiters around it. An obstacle is spawned ahead the UUV, what is interfering with the search pattern and the loiter path also.
This simulation is using the old CM, not the BTrees.
Obstacle avoidance is enabled by default during the whole mission.
Static obstacles are controlled by `enable_obstacles` parameter in the ALC Toolchain.