The paper presents a novel simulator designed for efficient development and rigorous validation of multi-robot marine missions. The simulator can model the operating conditions of the robots with high fidelity and can run significantly faster than real-time. It includes features like acoustic communications, dynamic environmental data, and high-resolution bathymetry. The simulator was used to develop a multi-robot field experiment, demonstrating its practical application. The simulator, LRAUV Sim, can be extended to incorporate any propeller-driven underwater vehicles, but currently models Long-Range Autonomous Underwater Vehicles (LRAUVs).
Publication date: 20 Nov 2023
Project Page: https://github.com/osrf/lrauv
Paper: https://arxiv.org/pdf/2311.10377
