Virtual environment testbed for underwater robotics applications

This paper describes an approach for a virtual reality based testbed for an underwater robotics application. After an overview of related work, an overall design of the testbed is explained. Virtual reality modeling language (VRML) version 2.0 and Java programming language are used to provide a virtual reality based testbed on the World Wide Web. Multicasting is used to provide for multiple users and robots. Both real and virtual robots can be used. Some aspects of implementation are described, and current research directions are listed.