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Advanced approaches to intelligent, real-time decision making are difficult to test for multi-agent systems. Specifically, the expense and logistics of fielding multiple unmanned underwater vehicles in an open ocean environment are significant challenges in marine autonomy. Traditionally, algorithms may be developed and tested under ideal conditions with tools that do not accurately reflect real-time...
The purpose of this paper is to present Thetis: a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In Loop (HIL) simulations including virtual sensors which allow to provide a representation of a virtual world, and including the support of communication devices. The architecture of this simulator is conceived so that it ensures a temporal decoupling...
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