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arXiv · 2311.02296

Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons

Cora A. Dimmig·Giuseppe Silano·Kimberly McGuire·Chiara Gabellieri·Wolfgang Hönig·Joseph Moore·Marin Kobilarov
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Abstract

Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the development and evaluation of novel perception and control algorithms. However, the large number of available simulators poses a significant challenge for researchers to determine which simulator best suits their specific use-case, based on each simulator's limitations and customization readiness. In this paper we present an overview of 44 UAV simulators, including in-depth, systematic comparisons for 14 of the simulators. Additionally, we present a set of decision factors for selection of simulators, aiming to enhance the efficiency and safety of research endeavors.

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Cora A. Dimmig, Giuseppe Silano, Kimberly McGuire, Chiara Gabellieri, Wolfgang Hönig, Joseph Moore, Marin Kobilarov. 2025-05-12. Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons. https://doi.org/10.1109/mra.2024.3433171

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