LEVIATHANDocumentation

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 Viewport a BlueROV2 Heavy hovers beside the graffiti-covered hull of the MV Panagiotis wreck, with four DVL beams drawn to the seabed and the USBL acoustic path drawn to the surface. The Stage dock on the right lists the scene and shows the sensor payload card with a live USBL fix.
The Viewport in the Shipwreck scene. The BlueROV2 Heavy carries an imaging sonar, a bathymetric echosounder, a USBL and a four-beam DVL; the payload card reports the live USBL fix.
9built-in scenes
9built-in vehicles
21 + 7analytic + canonical sensor models
85Dashboard panels
5workspaces

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

A BlueROV2 Heavy hovering beside the hull of the MV Panagiotis wreck on a pale sandy seabed, with broken hull plating in the foreground.
BlueROV2 Heavy · ShipwreckClose inspection of a scanned wreck.
A REMUS-100-class AUV with a yellow-green hull passing between two scanned coral heads covered in sea fans and coloured coral.
REMUS-100 · Coral ReefA 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 rigStructure 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 · PipelinePipeline-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 iceOperation beneath an ice canopy.
A BlueROV2 hovering above the seabed in front of a dense row of scanned timber pier piles.
BlueROV2 · PierInspection 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 startedApplication and workspacesCode, Viewport, Dashboard, Hardware and Hull, with screenshots of each. 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.

Simulation

02 · FAB EngineVehicle dynamicsSix-degree-of-freedom Fossen dynamics, added mass, damping, thrusters and fins. 02 · FAB EngineOcean and environmentCurrents, eddies, tides, waves, seabed, sound speed and absorption. 03 · ContentEnvironmentsReef, wreck, pipeline, under-ice, dam, oil rig, pier, ship hull and harbour. 03 · ContentVehiclesROVs, AUVs, a USV and a glider, plus URDF, SDFormat and MJCF import. 03 · ContentSensorsCameras, sonars, DVL, IMU, USBL, LBL, GPS, CTD, ADCP and more.

Perception and data

04 · PerceptionCamera and opticsOpenCV geometry, underwater image formation and per-pixel ground truth. 04 · PerceptionImaging sonarBeam geometry, relative return, contributors and CPU/GPU parity. 04 · PerceptionPerception ground truthCorrespondence, optical flow, motion fields, tracks and camera-sonar ground truth. 04 · PerceptionPerception and computer visionAlgorithms, evaluators and benchmarks, with each graded by evidence. 04 · PerceptionSynthetic data and exportNative datasets, COCO, KITTI, depth, flow formats and their conventions.

Workspaces and development

05 · WorkspacesDashboardAnalysis panels for sensors, physics, charts, estimation and evaluation. 05 · WorkspacesHull and marine structuresFouling, drag cost, crawler cleaning plans and simulated inspection. 05 · WorkspacesHardware, HIL and interfacesHarness wiring, firmware on an emulated RP2040, ROS 2 and MAVLink. 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. 05 · WorkspacesAccounts and sign-inSign-in modes, providers, sessions and keys. 07 · ReferenceConventions and glossaryFrames, units, maturity labels and terminology.
About this documentation

These pages describe what the current release 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, not manufacturer specifications.