PierHarbor-Torpedo

This scenario starts with a TorpedoAUV near one of the larger docks. Unless otherwise specified, all sensors are named the same as their class name, ie IMUSensor is named “IMUSensor”.

• auv0: Main TorpedoAUV agent

  • IMUSensor configured with noise, bias, and returns bias.

  • GPSSensor gets measurements with N(1, 0.25) of the surface, actual measurement also has noise.

  • DVLSensor configured with an elevation of 22.5 degrees, noise, and returns 4 range measurements.

  • DepthSensor configured with noise.

  • PoseSensor for ground truth.

  • VelocitySensor for ground truth.