MarineSIM: Robot simulation for marine environments
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Hover_MarineSIM.pdf
Size
852.05 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Senarathne, P. G. C. Namal
Wijesoma, Wijerupage Sardha
Wee Lee, Kwang
Kalyan, Bharath
M. D. P, Moratuwage
Patrikalakis, Nicholas M.
Hover, Franz S.
Date Issued
May 2010
Journal
OCEANS 2010 IEEE - Sydney
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Namal Senarathne, P.G.C., Wijerupage Sardha Wijesoma, Kwang Wee Lee, et al. MarineSIM: Robot Simulation for Marine Environments. In Pp. 1–5. 2010, IEEE. © Copyright 2010 IEEE
Version
Final published version
Abstract
Development of robust navigation algorithms for marine robotics is a challenge faced by many marine robotists. This paper presents MarineSIM, a marine robot simulation platform which provides an infrastructure to easily test and debug navigation algorithms before they are being deployed in the actual environment. The general architecture of the simulation platform is introduced together with the marine robot models and sensor models used. A detailed example is provided on how to use this platform to simulate a collaborative mapping of a marine environment using both above waterline and below waterline sensors.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/OCEANSSYD.2010.5603839
