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UUV simulator: A Gazebo-based package for underwater intervention and multi-robot simulation

: Manhães, M.M.M.; Scherer, S.A.; Voss, M.; Douat, L.R.; Rauschenbach, T.


Institute of Electrical and Electronics Engineers -IEEE-; Marine Technology Society -MTS-; IEEE Oceanic Engineering Society:
MTS/IEEE Monterey OCEANS 2016 : 19-23 September 2016, Monterey
Piscataway, NJ: IEEE, 2016
ISBN: 978-1-5090-1527-6 (Print)
ISBN: 978-1-5090-1537-5
Oceans Conference and Exhibition (OCEANS) <2016, Monterey/Calif.>
Conference Paper
Fraunhofer IOSB ()

This paper describes the Unmanned Underwater Vehicle (UUV) Simulator, an extension of the open-source robotics simulator Gazebo to underwater scenarios, that can simulate multiple underwater robots and intervention tasks using robotic manipulators. This is achieved mainly through a set of newly implemented plugins that model underwater hydrostatic and hydrodynamic effects, thrusters, sensors, and external disturbances. In contrast to existing solutions, it reuses and extends a general-purpose robotics simulation platform to underwater environments.