构建水下机器人仿真模块，支持多类型无人系统协同与学习方法测试。
SMaRCSim: Maritime Robotics Simulation Modules
- 基于真实场景需求设计多模态仿真模块
- 支持水下、水面、空中多智能体协同仿真
- 适配强化学习与任务规划的快速验证
开发新型水下机器人功能并进行实地测试耗时且资源消耗大。仿真环境可实现部署前快速验证。然而，现有工具在以下方面存在不足：(i) 针对水下车辆的学习型方法研发；(ii) 构建水下、水面及空中自主无人系统的协同团队；(iii) 与野外实验的任务规划集成。针对这些问题的综合性解决方案，有望为水下领域引入新功能。本文提出SMaRCSim，一套我们为解决上述挑战而开发的仿真模块包。
原文摘要 · Abstract (English)
Developing new functionality for underwater robots and testing them in the real world is time-consuming and resource-intensive. Simulation environments allow for rapid testing before field deployment. However, existing tools lack certain functionality for use cases in our project: i) developing learning-based methods for underwater vehicles; ii) creating teams of autonomous underwater, surface, and aerial vehicles; iii) integrating the simulation with mission planning for field experiments. A holistic solution to these problems presents great potential for bringing novel functionality into the underwater domain. In this paper we present SMaRCSim, a set of simulation packages that we have developed to help us address these issues.
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