Stem Mission
Baseline scenario context
The stem mission keeps five vehicles moving through a fixed-seed traffic-ring assignment pattern. Runs remain comparable for CI while asynchronous completion can change the exact assignment order.
Performance
P03 COLREGS Traffic Ring
Seeded traffic-stress tests for COLREGS behavior. These cases replay five-vehicle traffic pressure and grade assignment activity, fixed runtime windows, zero collisions, and warning-free logs.
Examples
Representative runs
Case Matrix
All cases
baseline_circle_pass
Uses seed 17, five helm-reported stock speeds of 1.75, five live AVOID=true states, a 36-meter field ring, and a 300-second assignment window, testing the fixed-seed cooperative baseline; passes when those per-vehicle settings are present with mission completion, no timeout or collision, closest range in (0,30], at least 25 assignment batches, zero scanned warnings, and wall time in 30–32 seconds locally or 58–70 seconds in CI.
mixed_speed_circle_pass
Gives Abe through Eve helm-reported stock speeds 1.55,1.67,1.79,1.91,2.03 with AVOID=true on all five vehicles, testing the intended speed-asymmetric cooperative configuration over the 300-second ring; passes when the exact five-value profile is present with completion, no timeout or collision, closest range in (0,30], at least 25 batches, zero scanned warnings, and the baseline profile-specific wall-time band.
endurance_circle_pass
Uses seed 31, the exact five-value mixed-speed profile with all five AVOID=true, a 42-meter field ring, 45-meter assignment radius, minimum target separation 18, predicted CPA 14, and a 900-second window, testing a longer and wider cooperative soak; passes when those settings are present with completion, no timeout or collision, closest range in (0,30], at least 80 batches, zero scanned warnings, and wall time in 89.5–92.5 seconds locally or 175–190 seconds in CI.
noncoop_circle_pass
Gives all five vehicles helm-reported stock speed 1.5 and launches only Eve with live AVOID=false, testing a specifically identified non-cooperative participant in the 300-second ring; passes when DUMB_VNAME=eve, Abe through Deb report AVOID=true, Eve reports AVOID=false, and the ordinary short-run completion, collision, activity, warning, and timing conditions hold.