Related papers: A Preview of HoloOcean 2.0
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulators often lack high-level autonomy, hindering their immediate…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
Realistic simulators are critical for training and verifying robotics systems. While most of the contemporary simulators are hand-crafted, a scaleable way to build simulators is to use machine learning to learn how the environment behaves…
This paper presents and investigates a novel methodology for validating high-resolution ocean models using satellite imagery. High-resolution ocean models provide detailed information in coastal areas where other available data products are…
A few studies in the maritime domain utilize co-design in ship design workshops, however, none of them addresses a full picture of how co-design can make changes in simulation-based maritime education. In this paper, we reflect how…
This work presents the MarineGym, a high-performance reinforcement learning (RL) platform specifically designed for underwater robotics. It aims to address the limitations of existing underwater simulation environments in terms of RL…
Metaverse has attracted great attention from industry and academia in recent years. Metaverse for the ocean (Meta-ocean) is the implementation of the Metaverse technologies in virtual emersion of the ocean which is beneficial for people…
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work…
This paper presents the Marinarium, a modular and stand-alone underwater research facility designed to provide a realistic testbed for maritime and space-analog robotic experimentation in a resource-efficient manner. The Marinarium combines…
Wearable biosensors can enable continuous human data capture, facilitating development of real-world Human-Robot Interaction (HRI) systems. However, a lack of standardized libraries and implementations adds extraneous complexity to HRI…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
We describe the user interface, governing equations, and numerical methods underpinning the community ocean modeling software called "Oceananigans". Oceananigans development has been lead by the Climate Modeling Alliance to build a…
Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…
Building agents that generalize across web, desktop, and mobile environments remains an open challenge, as prior systems rely on environment-specific interfaces that limit cross-platform deployment. We introduce Surfer 2, a unified…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
Building on the foundations of our previous work, this paper introduces Arena 4.0, a significant advancement over Arena 3.0, Arena-Bench, Arena 1.0, and Arena 2.0. Arena 4.0 offers three key novel contributions: (1) a generative-model-based…
Visual analysis is well adopted within the field of oceanography for the analysis of model simulations, detection of different phenomena and events, and tracking of dynamic processes. With increasing data sizes and the availability of…
In this work, we take a modern high-resolution finite-volume scheme for solving the rotational shallow-water equations and extend it with features required to run real-world ocean simulations. Our contributions include a spatially varying…
Mixed Reality (MR) is an evolving technology lying in the continuum spanned by related technologies such as Virtual Reality (VR) and Augmented Reality (AR), and creates an exciting way of interacting with people and the environment. This…