Underwater Multi-Robot Simulation and Motion Planning in Angler
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arXiv
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| Format: | Preprint |
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2025
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| author | Agrawal, Akshaya Palmer, Evan Kingston, Zachary Hollinger, Geoffrey A. |
| author_facet | Agrawal, Akshaya Palmer, Evan Kingston, Zachary Hollinger, Geoffrey A. |
| contents | Deploying multi-robot systems in underwater environments is expensive and lengthy; testing algorithms and software in simulation improves development by decoupling software and hardware. However, this requires a simulation framework that closely resembles the real-world. Angler is an open-source framework that simulates low-level communication protocols for an onboard autopilot, such as ArduSub, providing a framework that is close to reality, but unfortunately lacking support for simulating multiple robots. We present an extension to Angler that supports multi-robot simulation and motion planning. Our extension has a modular architecture that creates non-conflicting communication channels between Gazebo, ArduSub Software-in-the-Loop (SITL), and MAVROS to operate multiple robots simultaneously in the same environment. Our multi-robot motion planning module interfaces with cascaded controllers via a JointTrajectory controller in ROS~2. We also provide an integration with the Open Motion Planning Library (OMPL), a collision avoidance module, and tools for procedural environment generation. Our work enables the development and benchmarking of underwater multi-robot motion planning in dynamic environments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_06612 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Underwater Multi-Robot Simulation and Motion Planning in Angler Agrawal, Akshaya Palmer, Evan Kingston, Zachary Hollinger, Geoffrey A. Robotics Deploying multi-robot systems in underwater environments is expensive and lengthy; testing algorithms and software in simulation improves development by decoupling software and hardware. However, this requires a simulation framework that closely resembles the real-world. Angler is an open-source framework that simulates low-level communication protocols for an onboard autopilot, such as ArduSub, providing a framework that is close to reality, but unfortunately lacking support for simulating multiple robots. We present an extension to Angler that supports multi-robot simulation and motion planning. Our extension has a modular architecture that creates non-conflicting communication channels between Gazebo, ArduSub Software-in-the-Loop (SITL), and MAVROS to operate multiple robots simultaneously in the same environment. Our multi-robot motion planning module interfaces with cascaded controllers via a JointTrajectory controller in ROS~2. We also provide an integration with the Open Motion Planning Library (OMPL), a collision avoidance module, and tools for procedural environment generation. Our work enables the development and benchmarking of underwater multi-robot motion planning in dynamic environments. |
| title | Underwater Multi-Robot Simulation and Motion Planning in Angler |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.06612 |