Kelpie: A ROS-Based Multi-Robot Simulator for Water Surface and Aerial Vehicles

Ricardo Mendonca, Pedro Santana, Francisco Marques, Andre Lourenco, Joao Silva, Jose Barata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013)
PublisherIEEE
Pages3645-3650
Number of pages6
DOIs
Publication statusPublished - 2013
EventIEEE International Conference on Systems, Man, and Cybernetics (SMC) - Manchester
Duration: 13 Oct 201316 Oct 2013

Publication series

NameIEEE International Conference on Systems Man and Cybernetics Conference Proceedings
PublisherIEEE
ISSN (Print)1062-922X

Conference

ConferenceIEEE International Conference on Systems, Man, and Cybernetics (SMC)
CityManchester
Period13/10/1316/10/13

Keywords

  • Physics-Based Simulation
  • Multi-Robots
  • Unmanned Surface Vehicles
  • Unmanned Aerial Vehicles
  • ROS

Cite this

Mendonca, R., Santana, P., Marques, F., Lourenco, 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 (SMC 2013) (pp. 3645-3650). (IEEE International Conference on Systems Man and Cybernetics Conference Proceedings). IEEE. https://doi.org/10.1109/SMC.2013.621