{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/45812"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/45812","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Multivehicle simulation system","abstract":"In this thesis, we designed and implemented a simulator that supports multiple robots within a dynamic environment. The goal of this tool is to provide a testing environment for navigational robots that run on the MOOS platform. The simulator is written in C++ and utilizes several open source libraries to create a virtual world for robots to interact with by faking sensor information. A design goal of this thesis has been to make the simulator versatile enough to be useful for a variety of robots, from land to marine. Such a tool is valuable in research because the cost of developing a custom simulator can consume too many man-hours. Reducing this cost by creating a generic and customizable simulator has been the main motivation behind this thesis. It has also been one of the major challenges behind the project.","abstract_html":"In this thesis, we designed and implemented a simulator that supports multiple robots within a dynamic environment. The goal of this tool is to provide a testing environment for navigational robots that run on the MOOS platform. The simulator is written in C++ and utilizes several open source libraries to create a virtual world for robots to interact with by faking sensor information. A design goal of this thesis has been to make the simulator versatile enough to be useful for a variety of robots, from land to marine. Such a tool is valuable in research because the cost of developing a custom simulator can consume too many man-hours. Reducing this cost by creating a generic and customizable simulator has been the main motivation behind this thesis. 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