awesome-maritime-robotics
Repo for mapping all the open source robotics software, including the ones from this organization
Simulation environments
Gazebo
- VRX Boat Simulation gazebosim example.
- Bluerov2 gazebosim model.
- LRAUV gazebosim example. Contains DVL.
- Orca4
- SUAVE An Exemplar for Self-Adaptive Underwater Vehicles
- REMARO Summer School Delft 2022 - Underwater robotics hackathon
- MBZIRC Boat and aerial drone simulation. Contains radar.
Other
- Stonefish is a C++ library combining a physics engine and a lightweight rendering pipeline.
- TurtleBoat is an interactive node, similar to turtlebot, but then with vessel dynamics
Control effort allocation / Thruster-managers
Modules that attempt to best satisfy a reference resultant force by the ships actuators, given a certain thruster layout. The goal is to decide on actuator actions (generally either force $f=[f_1,...,f_n]$ or utilization $u = [u_1,...,u_n]^{\intercal}$ and orientations $\alpha = [\alpha_1,...,\alpha_n]^{\intercal}$) of all $n$ thrusters that combined satisfy desired resultant forces. In most cases (e.g. propellers, not fins) they relate by:
$$ \tau = T(\alpha)f(u) $$
Where the forces per actuator $f$ depends on utilization $u$ and $T$ is the thrust allocation matrix (which is constant if actuator angles $\alpha$ are static).
- MVP-Control: A generic vehicle low-level vehicle controller (implements a control allocation algorithm with quadratic programming).
- CentraleNantesROV thrust_manager: Uses URDF to get thruster info. Method: predefined T inverse lookup ( $f=T^{-1} * \tau$ )
- Robotic Decision Making Lab Oregon thrust manager Method: predefined T inverse lookup ( $f=T^{-1} * \tau$ )
Motion control modules
Components that attempt to control the vessels motion to follow a reference state.
Dynamical positioning / station keeping
Full control over the pose of the vessel, generally for slow positioning, docking or station-keeping
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Heading / Velocity control
Approaches that are tailored to function with high surge speed, commonly neglecting drift and actuation in sway direction.
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Other approaches
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Planning/Guidance mission-planning:
- MVP-Mission: A generic behavior-based state-oriented mission planner. It contains common behaviors for marine guidance.
Actuator control
Modules that make sure that actuators follow a desired reference. Very vessel specific.