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

• ...

Heading / Velocity control

Approaches that are tailored to function with high surge speed, commonly neglecting drift and actuation in sway direction.

• ...

Other approaches

• ...

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.

• The general ros2 control community

Drivers

• ping360_sonar

Open access datasets of marine drone operation

• REMARO data