Aswanth Sampathkumar
Zheng Peng
ABSTRACT
This paper describes the simulation of a fleet of Autonomous underwater vehicles (AUVs) used for plume detection and plume source tracking using ROS and Gazebo. This is achieved by the integration of underwater vehicle simulation tools that model the vehicle, plume, underwater environment, and its dynamics. The plume tracing is done by a trajectory planner, or a leader robot followed by a group of robots planning their positions in a geometric pattern. The results discussed in this paper demonstrate the platform that has been setup for advanced applications using a fleet of AUVs.
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