FastSim: A Modular and Plug-and-Play Simulator for Aerial Robots

State-of-the-art robotics simulators are equipped with well-established mapping, planning, and control systems. However, they lack modularity and the convenience of plug-and-play functionality. In this work, we present FastSim, a high-fidelity and user-friendly simulation framework based on the Unit...

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Veröffentlicht in:IEEE robotics and automation letters Jg. 9; H. 6; S. 5823 - 5830
Hauptverfasser: Cui, Can, Zhou, Xiaobin, Wang, Miao, Gao, Fei, Xu, Chao
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.06.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Aerial systems: applications
Algorithms
Animation
Autonomous aerial vehicles
Decoupling
Design methodology
Drones
Engines
Hardware-in-the-loop simulation
Image quality
Image sensors
methods and tools for robot system design
Mixed reality
Modularity
Performance evaluation
Plug & play
Robot dynamics
Robot sensing systems
Robotics
Robots
Rotors
Sensors
Simulation
simulation and animation
Simulator fidelity
Simulators
Visualization
ISSN:2377-3766, 2377-3766
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Abstract State-of-the-art robotics simulators are equipped with well-established mapping, planning, and control systems. However, they lack modularity and the convenience of plug-and-play functionality. In this work, we present FastSim, a high-fidelity and user-friendly simulation framework based on the Unity engine. FastSim enables users to build robot simulation scenarios efficiently, by decoupling various simulation tasks with customizable modules, which contains simulated sensors, integrated utilities, visualization tools, and template robots. Besides high-performance robot dynamics simulation and high-quality image rendering, hardware-in-the-loop and mixed-reality applications are also available in this framework. The distinguished merits of FastSim include: (1) Robot Operating System (ROS) compatible control interfaces and abundant visualization tools for researchers who prefer ROS-based toolchains and (2) its integration of state-of-the-art planning algorithms, which enables users, even beginners, to quickly master the deployment of highly autonomous robots in simulations. Finally, we demonstrate the flexibility of FastSim by several experiments and performance evaluations with open source examples in repository: https://github.com/ZJU-FAST-Lab/FastSim .
AbstractList State-of-the-art robotics simulators are equipped with well-established mapping, planning, and control systems. However, they lack modularity and the convenience of plug-and-play functionality. In this work, we present FastSim, a high-fidelity and user-friendly simulation framework based on the Unity engine. FastSim enables users to build robot simulation scenarios efficiently, by decoupling various simulation tasks with customizable modules, which contains simulated sensors, integrated utilities, visualization tools, and template robots. Besides high-performance robot dynamics simulation and high-quality image rendering, hardware-in-the-loop and mixed-reality applications are also available in this framework. The distinguished merits of FastSim include: (1) Robot Operating System (ROS) compatible control interfaces and abundant visualization tools for researchers who prefer ROS-based toolchains and (2) its integration of state-of-the-art planning algorithms, which enables users, even beginners, to quickly master the deployment of highly autonomous robots in simulations. Finally, we demonstrate the flexibility of FastSim by several experiments and performance evaluations with open source examples in repository: https://github.com/ZJU-FAST-Lab/FastSim .
Author Wang, Miao
Zhou, Xiaobin
Gao, Fei
Xu, Chao
Cui, Can
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SubjectTerms Aerial systems: applications
Algorithms
Animation
Autonomous aerial vehicles
Decoupling
Design methodology
Drones
Engines
Hardware-in-the-loop simulation
Image quality
Image sensors
methods and tools for robot system design
Mixed reality
Modularity
Performance evaluation
Plug & play
Robot dynamics
Robot sensing systems
Robotics
Robots
Rotors
Sensors
Simulation
simulation and animation
Simulator fidelity
Simulators
Visualization
Title FastSim: A Modular and Plug-and-Play Simulator for Aerial Robots
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