Stem Mission
Baseline scenario context
The stem mission creates sustained two- or three-vehicle COLREGS encounters. Cases adjust traffic density and duration to test whether safe spacing holds beyond a single isolated encounter.
Performance
P02 COLREGS Joust
Performance tests for sustained COLREGS pressure. These cases run repeated multi-vehicle interaction and grade safe spacing, completion, warning cleanliness, and runtime bounds.
Examples
Representative runs
Case Matrix
All cases
baseline_colregs_pass
Runs the checked-in two-vehicle baseline_2v.txt crossing for a 280-second mission window, testing deterministic COLREGS interaction at two meters per second; passes with mission completion, no timeout or collision, closest range in 5–20 meters, 0–5 near misses, zero scanned warning matches, and wall time in 27.5–31.0 seconds.
dense_colregs_pass
Runs the checked-in three-vehicle dense_3v.txt crossing for 420 mission seconds, exercising simultaneous COLREGS pressure from three intersecting jousts; passes with completion, no timeout or collision, closest range in 6–20 meters, 0–8 near misses, zero scanned warnings, and wall time in 41.5–45.0 seconds.
endurance_colregs_pass
Runs the checked-in three-vehicle endurance_3v.txt layout for 1,200 mission seconds, exercising the same three-way interactions over a longer soak; passes with completion, no timeout or collision, closest range in 6–20 meters, 0–8 near misses, zero scanned warnings, and wall time in 118–124 seconds.