elymsyr/auv_ws
An open-source simulation and control workspace for an Autonomous Underwater Vehicle (AUV) built on ROS 2 Humble and Gazebo. It features a high-fidelity dynamics model and an advanced AI-based motion controller (FossenNet) that uses a pre-trained LibTorch model to imitate a NL-MPC for real-time, high-performance manoeuvring.
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Language
C++
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Apache-2.0
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Last pushed
Aug 28, 2025
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