Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/27771
Author(s): | Mendonça, R. Santana, P. Marques, F. Lourenço, A. Silva, J. Barata, J. |
Date: | 2013 |
Title: | Kelpie: A ROS-based multi-robot simulator for water surface and aerial vehicles |
Book title/volume: | 2013 IEEE International Conference on Systems, Man, and Cybernetics |
Pages: | 3645 - 3650 |
Event title: | 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 |
Reference: | Mendonça, R., Santana, P., Marques, F., Lourenço, A., Silva, J., & Barata, J. (2013). Kelpie: A ROS-based multi-robot simulator for water surface and aerial vehicles. In 2013 IEEE International Conference on Systems, Man, and Cybernetics (pp. 3645-3650). IEEE. https://doi.org/10.1109/SMC.2013.621 |
ISSN: | 1062-922X |
ISBN: | 978-1-4799-0652-9 |
DOI (Digital Object Identifier): | 10.1109/SMC.2013.621 |
Keywords: | Physics-based simulation Multi-robots Unmanned Surface Vehicles Unmanned Aerial Vehicles ROS |
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. |
Peerreviewed: | yes |
Access type: | Open Access |
Appears in Collections: | CTI-CRI - Comunicações a conferências internacionais |
Files in This Item:
File | Size | Format | |
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conferenceobject_13302.pdf | 7,42 MB | Adobe PDF | View/Open |
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