Paper ID: 2311.02296

Survey of Simulators for Aerial Robots

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

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 43 UAV simulators, including in-depth, systematic comparisons for 17 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.

Submitted: Nov 4, 2023