The Underwater Simulator UWSim - Benchmarking Capabilities on Autonomous Grasping

Javier Pérez, Jorge Sales, Mario Prats, José V. Martí, David Fornas, Raúl Marín, Pedro J. Sanz

2013

Abstract

Benchmarking is nowadays an issue on robotic research platforms, due to the fact that it is not easy to reproduce previous experiments and to know in detail in which real conditions other algorithms have been applied. In the context of Underwater interventions with semi-autonomous robots the situation gets even more interesting. Experiments performed by other researchers normally do not include the whole set of real conditions such as visibility or even water currents data that would allow the best scientific procedure. Underwater interventions and specially those performed on real sea scenarios are expensive, difficult to perform and reproduce. For this particular scenario, the use of an open platform simulation tool, with benchmarking capabilities can provide an enormous help, as will be shown in the present paper. The Underwater Simulator UWSIM (http://www.irs.uji.es/uwsim) has been shown to be a very useful tool for simulation, integration and benchmarking, during the experiments performed in the context of the FP7 TRIDENT Project. In particular, in this paper the use of the benchmarking capabilities of the UWSim platform for grasping autonomously an object (airplane black box) from the sea floor in different water visibility and current conditions will be shown.

Paper Citation

in Harvard Style

Pérez J., Sales J., Prats M., Martí J., Fornas D., Marín R. and Sanz P. (2013). The Underwater Simulator UWSim - Benchmarking Capabilities on Autonomous Grasping . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 369-376. DOI: 10.5220/0004484903690376

in Bibtex Style

@conference{icinco13,
author={Javier Pérez and Jorge Sales and Mario Prats and José V. Martí and David Fornas and Raúl Marín and Pedro J. Sanz},
title={The Underwater Simulator UWSim - Benchmarking Capabilities on Autonomous Grasping},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={369-376},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004484903690376},
isbn={978-989-8565-71-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - The Underwater Simulator UWSim - Benchmarking Capabilities on Autonomous Grasping
SN - 978-989-8565-71-6
AU - Pérez J.
AU - Sales J.
AU - Prats M.
AU - Martí J.
AU - Fornas D.
AU - Marín R.
AU - Sanz P.
PY - 2013
SP - 369
EP - 376
DO - 10.5220/0004484903690376