Gazebo Simulation

Gazebo is a widely used robotics simulator enabling researchers to test and develop algorithms in virtual environments before real-world deployment. Current research focuses on enhancing Gazebo's capabilities for complex scenarios, including accurate contact detection for legged robots (often using Kalman filtering), realistic modeling of non-rigid objects like plants for agricultural robotics (employing Cosserat rod models), and simulating security threats like sensor spoofing for UAVs. This versatile platform facilitates advancements in various fields, from autonomous navigation and human-robot interaction to precision agriculture and security, by providing a safe and controlled testing ground for complex robotic systems.