MarineSIM: Robot simulation for marine environments

Author(s)
Senarathne, P. G. C. Namal; Wijesoma, Wijerupage Sardha; Wee Lee, Kwang; Kalyan, Bharath; M. D. P, Moratuwage; ... Show more
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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.
Date issued
2010-05
URI
http://hdl.handle.net/1721.1/78617
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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
ISBN
978-1-4244-5222-4
978-1-4244-5221-7
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