Naslov
MARUS - A Marine Robotics Simulator

Autori
Lončar, Ivan ; Obradović, Juraj ; Kraševac, Natko ; Mandić, Luka ; Kvasić, Igor ; Ferreira, Fausto ; Slošić, Vladimir ; Nađ, Đula ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the OCEANS 2022 Hampton Roads Conference and Exposition / - , 2022, 1-7 / - , 2022, 1-7

Skup
OCEANS 2022 Hampton Roads Conference and Exposition

Mjesto i datum
Han-sur-Lesse, Belgija, 17.10.2022. - 20.10.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
marine robotics, simulation, underwater robotics, open-source, dataset generation

Sažetak
Marine robotics requires high quality simulators due to complexity and availability of trials at sea. While there are several simulators in the literature, these have gaps in applications requiring high visual fidelity and human-robot interaction. This paper describes Marine Robotics Unity Simulator (MARUS), an open-source simulator for marine robotics based on Unity3D software that aims to close those gaps. It can simulate multirobot systems in a marine environment offering water physics and a wide array of sensors commonly used in underwater and maritime domain. An interface allowing inter-connectivity with the simulator was developed where the focus was put on ROS 1/2 integration preferred in robotics community. Due to growing requirements on high-fidelity visual simulation required for machine learning, tools were developed for enabling dataset generation with automatic annotations. Examples of simulator application demonstrate the capabilities of the simulator for real world problems encountered during research project development.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA