Modularis：用于自主系统快速开发与验证的模块化水下机器人
Modularis: Modular Underwater Robot for Rapid Development and Validation of Autonomous Systems
AI总结：
针对现成水下机器人难以兼顾成本、定制性与环境适应性，且定制建造昂贵耗时的问题，本文提出开源模块化水下机器人 Modularis，以加速感知、规划与控制算法的测试与验证。
摘要：
由于环境的复杂性，自主水下机器人的演示通常比其他领域需要更高的成本和时间。由于载荷能力和有效负载灵活性有限，很难找到既经济实惠、可定制又能适应环境变化的现成水下机器人。对于专门的应用或任务，可能需要定制建造水下机器人，但这一过程可能比购买现成的自主水下航行器（AUV）更昂贵、更耗时。为应对这些挑战，我们提出了一种模块化水下机器人 Modularis，它可作为开源测试平台系统。我们提出的系统加快了感知、规划和控制算法的测试。
英文摘要：
Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find off-the-shelf underwater robots that are affordable, customizable, and subject to environmental variability. Custom-built underwater robots may be necessary for specialized applications or missions, but the process can be more costly and time-consuming than purchasing an off-the-shelf autonomous underwater vehicle (AUV). To address these challenges, we propose a modular underwater robot, Modularis, that can serve as an open-source testbed system. Our proposed system expedites the testing of perception, planning, and control algorithms.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
