相关论文: SMaRCSim: Maritime Robotics Simulation Modules
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed…
Deploying multi-robot systems in underwater environments is expensive and lengthy; testing algorithms and software in simulation improves development by decoupling software and hardware. However, this requires a simulation framework that…
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
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…
Within academia and industry, there has been a need for expansive simulation frameworks that include model-based simulation of sensors, mobile vehicles, and the environment around them. To this end, the modular, real-time, and open-source…
Anticipating what might happen as a result of an action is an essential ability humans have in order to perform tasks effectively. On the other hand, robots capabilities in this regard are quite lacking. While machine learning is used to…
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…
Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental…
Serverless computing is gaining traction as an attractive model for the deployment of a multitude of workloads in the cloud. Designing and building effective resource management solutions for any computing environment requires extensive…
Aquaculture is a big marine industry and contributes to securing global food demands. Underwater vehicles such as remotely operated vehicles (ROVs) are commonly used for inspection, maintenance, and intervention (IMR) tasks in fish farms.…
Marine robotics simulators play a fundamental role in the development of marine robotic systems. With increased focus on the marine robotics field in recent years, there has been significant interest in developing higher fidelitysimulation…
The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate…
This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models…