We designed and validated a novel simulator for efficient development of multi-robot marine missions. To accelerate development of cooperative behaviors, the simulator models the robots' operating conditions with moderately high fidelity and runs significantly faster than real time, including acoustic communications, dynamic environmental data, and high-resolution bathymetry in large worlds. The simulator's ability to exceed a real-time factor (RTF) of 100 has been stress-tested with a robust continuous integration suite and was used to develop a multi-robot field experiment.

翻译：我们设计并验证了一款新颖的仿真器，用于高效开发多机器人海洋任务。为加速协同行为的开发，该仿真器以中等高保真度模拟机器人的运行条件，并以显著快于实时的速度运行，涵盖声学通信、动态环境数据以及大型场景中的高分辨率海底地形。仿真器的实时因子（RTF）超过100的能力已通过稳健的持续集成套件进行压力测试，并成功用于开发多机器人现场实验。