Acknowledgement
AUG Sim would have been impossible without the basis of existing open-source software, especially the Project DAVE(Dave, 2022), UUV Simulator(Manhaes et al., 2016), and simulation from the WHOI Deep Submergence Lab(Vaughn and Suman, 2022). In addition, we would like to thank Gregory Burgess and Peter Ventola in MIT-WHOI Joint Program for testing and feedback during the developments; Michael Jakuba for providing initial template codes for bathymetry assimilation. This research was performed while the author held an NRC Research Associateship award at(Field Robotics Laboratory at NPS)
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