The Role of Robotics Simulators for Unmanned Aerial Vehicles

Half-Day Workshop at ICRA 2023

Objective

The workshop aims to provide the participants with the knowledge and experience of researchers who have struggled to find, customize, or design a robotic simulator for their own purposes or specific application. The focus is on aerial vehicles, especially multi-rotor aircraft, where we expect simulation solutions to be of continued importance for both research and industrial applications. Simulating Unmanned Aerial Vehicles (UAVs) is a specialized task, because of aerodynamic interactions (with the environment or other robots), the fast operating speed compared to other robots (e.g., mobile, legged), and the potentially large number of interacting robots in three dimensions (e.g., swarms of delivery drones).

Important Dates

  • Extended abstract submission deadline: March 20, 2023

    April 3, 2023 23:59 (Pacific Time).

  • Notification to authors: April 10, 2023 (Pacific Time)
  • Camera-ready paper: May 5, 2023 (Pacific Time)
  • Workshop day: June 2, 2023. Last day of ICRA'23. Half-day afternoon workshop (14:00-18:00). Location: South Gallery Room 25

E-Mail

Recorded Workshop

Survey Paper

Schedule

  • 13:50 - 14:00: Introduction and overview
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Session 1: Multi-robot simulation for learning and Interacting
  • 14:00 Tomáš Báča - Abstractions and Simulations as the Backbone of Reproducible Research
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  • 14:30 Angela Schoellig - Safe-control-gym and gym-pybullet-drones: Simulation and benchmarking tools for safe learning-based control and reinforcement learning
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Poster Session + Coffee break
  • 15:00 - 16:00 Poster session
  • 15:30 - 16:00 Refreshments
Session 2: Software-in-the-loop and Realistic vision-based simulation
  • 16:00 Jaeyoung Lim - Simulating Workflows for Aerial Robots with Software-In-The-Loop
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  • 16:30 Davide Scaramuzza and Leonard Bauersfeld - Vision based Agile Flight, from simulation to reality
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Session 3: Breakout & Discussion
  • 17:00 Breakout sessions
  • 17:15 Presentation session + Open discussion
  • 17:45 Closing Remarks

Invited Speakers

Davide Scaramuzza

Davide Scaramuzza

University of Zurich

Talk: "Vision based Agile Flight, from simulation to reality"

Angela Schoellig

Angela Schoellig

Technical University of Munich

Talk: "Safe-control-gym and gym-pybullet-drones: Simulation and benchmarking tools for safe learning-based control and reinforcement learning"

Tomáš Báča

Tomáš Báča

Czech Technical University in Prague

Talk: "Abstractions and Simulations as the Backbone of Reproducible Research"

Jaeyoung Lim

Jaeyoung Lim

PX4 Core Developer & Ph.D. Student, ETH Zurich

Talk: "Simulating Workflows for Aerial Robots with Software-In-The-Loop"

Contributed Papers

  • Enhancing Power Line Segmentation for UAV Inspection utilizing Synthetic Data, Georgios Kalitsios, Vasileios Mygdalis and Ioannis Pitas
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  • RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research, Spencer Folk, James Paulos and Vijay Kumar
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  • MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs, Fanze Kong, Xiyuan Liu, Benxu Tang, Jiarong Lin, Yunfan Ren, Yixi Cai, Fangcheng Zhu, Nan Chen and Fu Zhang
    [ ]
  • Sensitivity Approach for Prioritizing Unmanned Aerial Vehicles Simulator Design, Mohamad Chehadeh, Igor Boiko and Yahya Zweiri
    [ ]
  • Flymation: Interactive Animation for Flying Robots, Yunlong Song and Davide Scaramuzza
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  • Introducing Noise for AirSim's 3D Lidar Sensor to Reduce the Sim2real Gap, David Tejero, Marco A. Montes-Grova, Jose A. Alvarez, Francisco J. Perez-Grau and Antidio Viguria
    [ ]
  • Potato: A Data-Oriented Programming 3D Simulator for Large-Scale Heterogeneous Swarm Robotics, Jinjie Li, Liang Han, Haoyang Yu, Zhaotian Wang, Pengzhi Yang, Ziwei Yan and Zhang Ren
    [ ]
  • From Perspective View to Bird's Eye View in Agricultural Environments, Simon Rumley, Anastasia Thoma, Paul Beardsley, Lucas Teixeira and Margarita Chli
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  • Survey, Selection, and Integration of Aerial Vehicle Simulators, Cora Dimmig and Marin Kobilarov
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  • CrazyChoir: A ROS 2 Toolbox for Simulations and Experiments on Swarms of Cooperating Crazyflies, Lorenzo Pichierri, Andrea Testa and Giuseppe Notarstefano
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  • Aerial Gym – Isaac Gym Simulator for Aerial Robots, Mihir Kulkarni, Theodor Johannes Line Forgaard and Kostas Alexis
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  • Simulation-Guided Testing for Autonomous Aerial Robotics Applications, Rafael Perez-Segui, Pedro Arias-Perez, Javier Melero-Deza, David Perez-Saura, Miguel Fernandez-Cortizas and Pascual Campoy
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  • Sim-to-real transfer of UAV swarms using digital twins, Lucio Salinas, Georgios Tzoumas, Lenka Pitonakova and Sabine Hauert
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  • QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control, Zhehui Huang, Sumeet Batra, Tao Chen, Rahul Krupani, Tushar Kumar, Artem Molchanov, Aleksei Petrenko, James Preiss, Zhaojing Yang and Gaurav Sukhatme
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  • Unity3D and Robot Operating System applied to the development of a multi-UAV strategy to identify oil spills around offshore platforms, Kelen Vivaldini and Tatiana Pazelli
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  • A Simulator for Fully-Actuated UAVs, Azarakhsh Keipour, Mohammadreza Mousaei and Sebastian Scherer
    [ ]

Simulators

Plans to encourage interaction among participants

A set of actions are planned to solicit broad and active participation in the workshop, including:
  • Discussion poster of contributed abstracts
  • Creation of online pools among both in person and remote participants to identify top discussions themes during round tables and breaks
  • Breakout sessions and a round table (i.e., presentation session followed by an open discussion) with the speakers and the participants

Team

Organizing Committee

Kimberly McGuire

Kimberly McGuire

Bitcraze A.B.

Giuseppe Silano

Giuseppe Silano

CTU Prague

Chiara Gabellieri

Chiara Gabellieri

TU Twente

Wolfgang Hönig

Wolfgang Hönig

TU Berlin

Steering Committee

Antonio Franchi

Antonio Franchi

TU Twente, LAAS-CNRS, University of Sapienza in Rome

Martin Saska

Martin Saska

Czech Technical University in Prague

Gianluca Antonelli

Gianluca Antonelli

University of Cassino and Southern Lazio

Vincenzo Lippiello

Vincenzo Lippiello

University of Naples Federico II

Gaurav Sukhatme

Gaurav Sukhatme

University of Southern California

Stefano Stramigioli

Stefano Stramigioli

TU Twente

Support

Endorsement