The following are brief notes on ideas for testing the path planners. Some of these descriptions are quite subjective. How to distinguish between a simple and complex island? I would consider Spectacle Island simple and Peddocks Island complex (both in Massachusetts Bay).

Target Selection

  • Scenarios with 1, 2, … 10 targets
  • Randomly distribute the targets in the space
  • Uniformly distribute the targets in the space (mostly. Will have to offset from the terrain)
  • For all the above scenarios, have two versions. In one, the boat speed is such that are are feasible. In the other, the speed is lowered and 1/3 of targets cannot be reached during allowed time.

Coverage Paths

  • No terrain
  • Terrain with 1, 2, 3 simple contained islands
  • Terrain with 1, 2, 3 noncontained terrain
  • 1 large, complex contained island.
  • 1 where terrain intersects space
  • Set the number of points there the distance between points is just small enough to ensure coverage

Goto Paths

  • No terrain
  • 1, 2, 3 small terrain intersections
  • 1, 2, 3 large terrain intersections (requires significant manuevering)
  • All 7 target setups: w/o scientific entities
  • All 7 target setups: with scientific entities (equal weight)
  • All 7 target setups: with scientific entities (unequal weight)
  • All 7 target setups: w/o currents
  • All 7 target setups: with currents (with obvious currents to take advantage of)
  • All 7 target setups: with currents (with obvious currents to avoid)
  • And all combos of scientific entity, water current profiles.