NEPTUNE: A HIL simulator for mulitiple UUVs
Pere Ridao, E. Batile, David Ribas, Marc Carreras · 2005
This paper overviews the field of graphical simulators used for AUV development, presents the taxonomy of these applications and proposes a classification. It also presents Neptune, a multivehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations.