Publicação
Kelpie: A ROS-based multi-robot simulator for water surface and aerial vehicles
| Resumo: | Testing and debugging real hardware is a time consuming task, in particular for the case of aquatic robots, for which it is necessary to transport and deploy the robots on the water. Performing waterborne and airborne field experiments with expensive hardware embedded in not yet fully functional prototypes is a highly risky endeavour. In this sense, physics-based 3D simulators are key for a fast paced and affordable development of such robotic systems. This paper contributes with a modular, open-source, and soon to be freely online available, ROS-based multi-robot simulator specially focused for aerial and water surface vehicles. This simulator is being developed as part of the RIVERWATCH experiment in the ECHORD european FP7 project. This experiment aims at demonstrating a multi-robot system for remote monitoring of riverine environments. |
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| Autores principais: | Mendonça, R. |
| Outros Autores: | Santana, P.; Marques, F.; Lourenço, A.; Silva, J.; Barata, J. |
| Assunto: | Physics-based simulation Multi-robots Unmanned Surface Vehicles Unmanned Aerial Vehicles ROS |
| Ano: | 2013 |
| País: | Portugal |
| Tipo de documento: | documento de conferência |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | ISCTE |
| Idioma: | inglês |
| Origem: | Repositório ISCTE |
| Resumo: | Testing and debugging real hardware is a time consuming task, in particular for the case of aquatic robots, for which it is necessary to transport and deploy the robots on the water. Performing waterborne and airborne field experiments with expensive hardware embedded in not yet fully functional prototypes is a highly risky endeavour. In this sense, physics-based 3D simulators are key for a fast paced and affordable development of such robotic systems. This paper contributes with a modular, open-source, and soon to be freely online available, ROS-based multi-robot simulator specially focused for aerial and water surface vehicles. This simulator is being developed as part of the RIVERWATCH experiment in the ECHORD european FP7 project. This experiment aims at demonstrating a multi-robot system for remote monitoring of riverine environments. |
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