Paper Info
Title
Kelpie: A ROS-Based Multi-robot Simulator for Water Surface and Aerial Vehicles
Abstract
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.
Year
DOI
Venue
2013
10.1109/SMC.2013.621
SMC
Keywords
Field
DocType
ros-based multi-robot simulator,echord european,real hardware,multi-robot system,airborne field experiment,riverwatch experiment,water surface vehicle,aerial vehicles,fp7 project,water surface,expensive hardware,affordable development
Robotic systems,Simulation,Computer science,Modular design,Robot,Debugging
Conference
ISSN
Citations 
PageRank 
1062-922X
1
0.36
References 
Authors
0
6
Name
Order
Citations
PageRank
Ricardo MendonçA1315.74
Pedro Santana211617.42
Francisco Marques3165.49
André Lourenço431245.33
João Silva510.36
José Barata629844.95