AZAREL ROBOTICSTECHNICAL DOCUMENTATION

LEVIATHAN Documentation

LEVIATHAN is a marine robotics simulation and development environment for AUVs, ROVs, surface vessels and hull robots. It puts vehicles, a modelled ocean, acoustic and optical sensors, ground truth, perception, state estimation, learning and evaluation in one desktop application, backed by a simulation service you can also drive directly.

The LEVIATHAN desktop application in the World workspace. A BlueROV2 Heavy hovers beside the graffiti-covered hull of a wreck, with four DVL beams drawn to the seabed, the forward sonar fan and the USBL acoustic path. The menus and workspace tabs run across the top, and the Sensors tab on the right shows live readings. — LEVIATHAN 0.8.0: the World workspace in the Shipwreck scene. The BlueROV2 Heavy carries an imaging sonar, a bathymetric echosounder, a USBL and a four-beam DVL, and the Sensors tab reports their live readings.

9built-in scenes

9built-in vehicles

21 + 7analytic + canonical sensor models

85Dashboard panels

6workspaces

Vehicles and scenes

Every screenshot in this documentation is a capture of the running application. Each scene below is a built-in World preset with a built-in vehicle placed in it.

A BlueROV2 Heavy hovering beside the hull of a wreck on a pale sandy seabed, with broken hull plating in the foreground. — **BlueROV2 Heavy · Shipwreck**Close inspection of a wreck.

A REMUS-100-class AUV with a yellow-green hull passing between two coral heads covered in sea fans and coloured coral. — **REMUS-100 · Coral Reef**A small survey AUV crossing a reef.

A work-class ROV with a white flotation block hovering in open water among the legs and bracing of an offshore platform jacket. — **Work-class ROV · Offshore oil rig**Structure work around a fixed jacket.

A large HUGIN-class AUV with a green hull flying low over a subsea pipeline with flange joints, marker posts and a concrete support. — **HUGIN · Pipeline**Pipeline-following survey at low altitude.

A hovering AUV in bright blue water beneath the ice canopy, with the edge of an ice keel at the right of the frame. — **Hovering AUV · Under ice**Operation beneath an ice canopy.

A BlueROV2 hovering above the seabed in front of a dense row of timber pier piles. — **BlueROV2 · Pier**Inspection between timber piles.

Start here

01 · Getting startedWhat is LEVIATHANThe platform in one page: what it simulates, what it produces and how mature each part is. 01 · Getting startedThe applicationThe shell, the command palette, the six workspaces and how data moves between them. 01 · Getting startedYour first simulationScene, vehicle, sensors, a ground-truth camera frame and a graded task. 01 · Getting startedSystem architectureThe application, the simulation service, the tiers and the stack layer by layer. 01 · Getting startedWorkflowsAUV, ROV and hull-robot development, data, perception, learning and HIL. 07 · ValidationValidation and performanceWhat has been checked, against what, with the results, throughput and known limits.

Workspaces

02 · WorkspacesCAD StudioSketches, features, mass properties, verified STEP/STL/GLB export and Export to World. 02 · WorkspacesCodeProject templates, Restricted Mode, approved runs and controller simulations. 02 · WorkspacesHardwareHarness wiring with live rule checks, firmware, emulation, ROS 2 and MAVLink. 02 · WorkspacesWorldScenes, vehicles, sensors, look-through cameras and sonar, up to four views. 02 · WorkspacesHullLines, hydrostatics and IMO stability; fouling, fuel cost and crawler cleaning. 02 · WorkspacesDashboardPlots and metrics on a shared timeline, and 85 analysis tools. 02 · WorkspacesAccounts and sign-inSign-in modes, providers, sessions and keys.

Simulation

03 · FAB EngineVehicle dynamicsSix-degree-of-freedom dynamics, added mass, damping, thrusters and fins. 03 · FAB EngineOcean and environmentCurrents, eddies, tides, waves, seabed, sound speed and absorption. 04 · ContentEnvironmentsReef, wreck, pipeline, under-ice, dam, oil rig, pier, ship hull and harbour. 04 · ContentVehiclesROVs, AUVs, a USV and a glider, plus URDF, SDFormat and MJCF import. 04 · ContentSensorsCameras, sonars, DVL, IMU, USBL, LBL, GPS, CTD, ADCP and more.

Perception and data

05 · PerceptionCamera and opticsPinhole geometry, underwater image formation and per-pixel ground truth. 05 · PerceptionImaging sonarBeam geometry, relative return, contributors and CPU/GPU parity. 05 · PerceptionPerception ground truthCorrespondence, optical flow, motion fields, tracks and camera-sonar ground truth. 05 · PerceptionPerception and computer visionAlgorithms, evaluators and benchmarks, with each graded by evidence. 05 · PerceptionSynthetic data and exportNative datasets, COCO, KITTI, depth, flow formats and their conventions.

Autonomy and reference

06 · AutonomyLocalizationThe canonical state estimator and estimate-driven control. 06 · AutonomyLearning and evaluationReinforcement-learning tasks, trainers and stage-attributed grading. 06 · AutonomyMapping and navigationHydrographic processing, tide reduction, navigation filtering. 08 · ReferenceConventions and glossaryFrames, units, maturity labels and terminology.

About this documentation

These pages describe what the current release, LEVIATHAN 0.8.0, does. Where a model has known limits, or where a capability is an interface rather than a live integration, the relevant page says so. Numbers shown for built-in vehicles are LEVIATHAN simulation presets.