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Complex mission with behavior trees and dynamic replanning.

Scenario

Pipeline inspection mission with: - Adaptive speed based on visibility - Obstacle avoidance - Photo capture at intervals - Battery monitoring

Mission Definition

mission:
  name: "Pipeline Inspection"

behaviors:
  - sequence:
    - goto_waypoint:
        target: pipeline_start

    - repeat:
        count: 10
        behavior:
          sequence:
            - follow_path:
                path: pipeline_segment
                speed: adaptive

            - take_photo:
                interval: 5  # meters

            - check_battery:
                threshold: 30
                action_if_low: return_home

    - goto_waypoint:
        target: home

Next: Custom Behaviors