Theory of Operation for VRX Classic

The most up to date description of the environmental model and vehicle model used in VRX Classic can be found in our paper Toward Maritime Robotic Simulation in Gazebo.

The models used in earlier versions of the simulation are captured in the following documents:

• https://github.com/bsb808/robotx_docs/blob/master/theoryofoperation/theory_of_operation.pdf
• https://github.com/osrf/vrx/blob/master/vrx_gazebo/docs/wave_generation.pdf
• Wavefield Implementation: How the model is implemented to keep the visual and physical models in sync.
• Wavefield Envelope: Describes the ranges of wavefield parameters for VRX with examples of different seastates and how we measure consistency of the visual and physical models.
• Buoyancy Modeling