This paper describes a virtual collaborative world simulator, DVECS (Distributed Virtual Environment Collaborative Simulator), for underwater robots and its underwater vehicle, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). DVECS is used for testing unmanned underwater vehicles (UUVs) of both real and simulated worlds where interaction and cooperation of other real and simulated vehicles, obstacles, situations, conditions and disturbances in a hybrid, synthetic, virtual environment can be observed without physical intervention. This virtual system can be used to determine: (1) the optimal performance and criteria for the cooperating vehicles and its relative application; (2) the determination of the advantages and disadvantages of collaborative application tasks between multiple UUVs; and (3) the optimal communication links between the cooperating vehicles and its remote control stations. DVECS is used as a monitoring system.
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