Large-Cave

Overview

The Large-Cave environment utilizes the same structural layout as the Small-Cave but at a significantly larger scale. The primary objective of this environment is to simulate wide-area exploration and long-range autonomous navigation.

In this version, the drones and agents are much smaller relative to the cave’s dimensions. This creates a “vast void” effect, where walls are often beyond the immediate reach of short-range sensors, forcing agents to rely on long-range Lidar, SLAM, and advanced path-planning algorithms to map the massive chambers.

Just like its smaller counterpart, it features three environmental zones:

Fully Submerged: Massive flooded vaults for deep-water exploration.

Semi-Submerged: Large transition areas with significant air pockets.

Dry Zones: Cathedral-like dry chambers.

Environment Dimensions & Coordinates

Due to the upscaling, the coordinate ranges and sensor configurations must be adjusted accordingly to account for the increased distances.

Top-Down Layout

While the topological network of tunnels remains the same, the operational area is expanded. The footprint spans from -1350 to 1350 units on the longitudinal axis and -1005 to 1005 units laterally (matching the Pier-Harbor scale). This provides vast corridors where maintaining a signal and orientation is significantly more difficult.

Vertical Profile and Water Line

The vertical operational envelope is also upscaled to provide massive height and depth:

Water Surface (Z=0): The green horizontal reference line.

Maximum Depth: Submerged sections reach down to -80 meters.

Maximum Altitude: Dry chambers and cathedral ceilings extend up to +100 meters above the water line.

Landmarks and Waypoints

Strategic waypoints are now further apart, requiring efficient battery management and long-range communication:

Grand Entrance (1): A massive underwater portal for ROV deployment.

Transition Vault (2): A cavernous semi-submerged hall.

The Abyss (3): A deep, fully flooded section for high-pressure simulation.

Dry Peak (4): The highest accessible dry chamber in the system.