Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study. This paper presents the SkyRover, a modular simulator for UAV-AGV multi-agent pathfinding (MAPF). SkyRover supports realistic agent dynamics, configurable 3D environments, and convenient APIs for external solvers and learning methods. By unifying ground and aerial operations, it facilitates cross-domain algorithm design, testing, and benchmarking. Experiments highlight SkyRover's capacity for efficient pathfinding and high-fidelity simulations in UAV-AGV coordination. Project is available at https://sites.google.com/view/mapf3d/home.
@article{arxiv.2502.08969,
title = {SkyRover: A Modular Simulator for Cross-Domain Pathfinding},
author = {Wenhui Ma and Wenhao Li and Bo Jin and Changhong Lu and Xiangfeng Wang},
journal= {arXiv preprint arXiv:2502.08969},
year = {2025}
}