Reproduce “ASVSim (AirSim for Surface Vehicles): A High-Fidelity Simulation Framework for Autonomous Surface Vehicle Research” on OpenResearch
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About this paper
Bavo Lesy, Siemen Herremans, Robin Kerstens, Jan Steckel, Walter Daems, Siegfried Mercelis, Ali Anwar
ASVSim is an open-source simulator for autonomous inland shipping that integrates photorealistic scenes, physics-based vessel motion, and simulated marine sensors. It extends Cosys-AirSim with a three-degree-of-freedom vessel model and tools for configurable environments, control, and perception. A CrossQ policy reached its goal without collision in 57.2% of 250 episodes across unseen environments; this simulator-only result does not establish real-world transfer.
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