Welcome to muNet-AUVsim’s documentation!

Version: 0.3.0-beta

Status: Beta Release

muNet-AUVsim is a comprehensive Python-based simulation framework for multi-agent Autonomous Underwater Vehicle (AUV) swarm research. The framework provides a complete environment for modeling, testing, and evaluating underwater vehicle coordination, communication networks, and control algorithms in realistic ocean conditions.

Contents:

• Installation
  • Prerequisites
  • Platform Compatibility
  • Step-by-Step Installation
  • Verifying Installation
• Quick Start
  • Minimal Example
  • Basic Workflow
  • Running Simulations
  • Output Files
  • Loading Previous Simulations
  • Next Steps
  • Example Scripts
• API Reference
  • munetauvsim.simulator
  • munetauvsim.vehicles
  • munetauvsim.guidance
  • munetauvsim.control
  • munetauvsim.navigation
  • munetauvsim.communication
  • munetauvsim.environment
  • munetauvsim.gnc
  • munetauvsim.plotTimeSeries
  • munetauvsim.logger
• Index

Quick Links

• Index

• Module Index

Key Features

• AUV dynamics modeling: 6-DOF nonlinear vehicle dynamics based on Fossen’s marine vehicle modeling

• Virtual ocean environment: Ocean currents, bathymetry, and environmental effects

• Underwater Communication: Simulated acoustic networking (muNet) and real AquaNet stack integration

• Modular GNC Architecture: Flexible guidance, navigation, and control systems with plug-and-play algorithms

• Swarm Coordination: Multi-agent groups, path following, and target tracking

• Comprehensive Visualization: Animated 3D trajectory plots with real-time vehicle states

• Data Collection & Analysis: Complete state logging, performance metrics, and reproducible simulations

Research Applications

• Swarm coordination algorithms

• Underwater acoustic communication protocols

• Formation control strategies

• Path planning and navigation

• Cooperative sensing and surveillance

• Multi-agent underwater robotics

Getting Started

For installation instructions, see Installation.

For a quick start guide, see Quick Start.

For detailed API documentation, see API Reference.

Citation

For guidance on citing this work, see the README and the CITATION file.