aerial机器人模拟器综述：概览与深入系统比较
机器人学
2025-05-13 v7
摘要
无人机（UAV）研究在进行硬件测试时面临安全性、可扩展性、成本与生态影响方面的挑战。高保真模拟器通过复现真实世界条件，为开发和评估新型感知与控制算法提供了重要解决方案。然而，大量可用模拟器给研究者带来显著困难：基于各模拟器的局限性与可定制程度，难以确定哪一款最适合其特定用例。本文给出44款UAV模拟器的概览，并对其中14款进行深入的系统性比较。此外，我们提出一组模拟器选择决策因素，旨在提升研究工作的效率与安全性。
引用
@article{arxiv.2311.02296,
title = {Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons},
author = {Cora A. Dimmig and Giuseppe Silano and Kimberly McGuire and Chiara Gabellieri and Wolfgang Hönig and Joseph Moore and Marin Kobilarov},
journal= {arXiv preprint arXiv:2311.02296},
year = {2025}
}
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