Robust Continuous System Integration for Critical Deep-Sea Robot Operations Using Knowledge-Enabled Simulation in the Loop

03/06/2018
by   Christian A. Mueller, et al.
0

Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data acquisition, perception and localization to control. We present an approach based on high-fidelity simulation that embeds spatial and environmental conditions from recorded real-world data. This simulation in the loop (SIL) methodology allows for mitigating the discrepancy between simulation and real-world conditions, e.g. regarding sensor noise. As a result, this work provides a platform to thoroughly investigate and benchmark behaviors of system components concurrently under real and simulated conditions. The conducted evaluation shows the benefit of the proposed work in tasks related to perception and self-localization under changing spatial and environmental conditions.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 4

page 5

10/29/2020

A Framework for Learning Predator-prey Agents from Simulation to Real World

In this paper, we propose an evolutionary predatorprey robot system whic...
05/14/2020

How to Close Sim-Real Gap? Transfer with Segmentation!

One fundamental difficulty in robotic learning is the sim-real gap probl...
11/23/2021

VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehicles

Simulation has the potential to transform the development of robust algo...
07/22/2020

FASTSWARM: A Data-driven FrAmework for Real-time Flying InSecT SWARM Simulation

Insect swarms are common phenomena in nature and therefore have been act...
06/12/2019

Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues

Underwater robot interventions require a high level of safety and reliab...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.