Marine Robotics Simulator

MARS is a real-time HIL simulation environment for AUVs.

• modern GUI through NetBeans Platform (Modules, WindowManager, AutoUpdate,...)
• customizable graphics
• Cross-platform through java
• realistic and real-time capable physics (buoyancy, drag, ...)
• multi AUV support
• sensors like cameras and sonars
• actuators like thruster und servos
• noise and failures
• ROS Support
• data visualization (charts,...)
• FlowMap support

Download here.

Usage in:

• HANSE
• SMART-E
• MONSUN II

[ToM14] Tosik, T.; Maehle, E.: MARS: A Simulation Environment For Marine Robotics. OCEANS 14 MTS/IEEE St. Johns, St. Johns, Kanada 2014

[ATM14] Amory, A.; Tosik, T.; Maehle, E.: A Load Balancing Behavior for Underwater Robot Swarms to Increase Mission Time and Fault Tolerance. 19th IEEE Workshop on Dependable Parallel, Distributed and Network-Centric Systems, Phoenix, USA 2014