Problem
Research questions and friction points this paper is trying to address.
human-drone interaction
offshore operation and maintenance
multi-domain
unmanned vehicles
LOTUSim-Energy: A Maritime Simulator for Human-Drone Interaction in Autonomous Offshore Operation \& Maintenance
🤖 AI Summary
本文介绍了一种名为LOTUSim-Energy的实时海上模拟器，用于解决多领域人-无人机互动下的离岸运维问题，通过统一环境物理模型、异构无人载具仿真和沉浸式监控界面实现。
📝 Abstract
Offshore maintenance requires operations in the air, the surface, and the subsea domain and include human supervision. This paper presents LOTUSim-Energy, a real-time maritime simulator designed for multi-domain human--drone interaction for offshore operation and maintenance. The plat- form unifies heterogeneous unmanned vehicles (Unmanned Aerial Vehicles: UAVs, Unmanned Surface Vehicles: USVs, Autonomous Underwater Vehicles: AUVs, Remotely Operated Vehicles: ROVs) within a distributed architecture coupling environment forcing (wind, waves, currents) and provides immersive user interfaces for supervision (desktop and virtual reality). A structured offshore task library enables repeatable evaluation of autonomy stacks under realistic metocean disturbances. The simulator supports realistic physics, energy-aware battery modeling, and fault-detection pipelines as modular validation tools. System-level performance is demonstrated on a multi-domain inspection scenario for monopile and transition piece structure, where we evaluate the reliability of integrated waypoint-follower plugin and Automatic Identification System (AIS)-referenced trajectory tracking under real-time energy monitoring. By combining unified environmental physics, heterogeneous vehicle simulation, and immersive supervision, LOTUSim-Energy provides an integration testbed for prototyping and rehearsing offshore human--robot collaboration workflows, as a step toward de-risking sea deployment.
Innovation
Methods, ideas, or system contributions that make the work stand out.
multi-domain human-drone interaction
real-time maritime simulator
energy-aware battery modeling
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