Multivehicle simulation system
Author(s)Belote, Greg H
SUPERSIM : modular and transparent simulation system for robotics
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
John J. Leonard.
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In this thesis, we designed and implemented a simulator that supports multiple robots within a dynamic environment. The goal of this tool is to provide a testing environment for navigational robots that run on the MOOS platform. The simulator is written in C++ and utilizes several open source libraries to create a virtual world for robots to interact with by faking sensor information. A design goal of this thesis has been to make the simulator versatile enough to be useful for a variety of robots, from land to marine. Such a tool is valuable in research because the cost of developing a custom simulator can consume too many man-hours. Reducing this cost by creating a generic and customizable simulator has been the main motivation behind this thesis. It has also been one of the major challenges behind the project.
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.Includes bibliographical references (p. 39).
DepartmentMassachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.