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ABSTRACT
The ideal development platform for autonomous underwater vehicle control software is an actual physical vehicle. However, limited availability of AUVs and the high costs associated with purchasing and maintaining them often call for the use of computer simulations as a more feasible and flexible development platform. The simulation must accurately emulate real-world conditions and equipment to allow control software development in a virtual space. Unfortunately, simulations tend to be developed from the ground up for particular AUVs and are thus idiosyncratic and difficult to reuse, and development time and cost can be substantial. We are developing a simulation testbed for intelligent control software for AUVs that is based on using off-the-shelf, sophisticated simulation software: game engines.
