The core simulator engine: integrating AUV subsystems with simulations

One means of reducing the overall development time of an autonomous underwater vehicle (AUV) is to develop the sub-systems in parallel with the specification and characterisation of the spine architecture. If the two are developed hand in hand, development risks will be reduced. At the early stages of development, many of the sub-systems will not be available and it is thus necessary to simulate their operation so that spine architecture development can proceed. The proposed core simulation engine architecture is designed to meet the broad requirements specified