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
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Extended abstract submission deadline: March 20, 2023April 3, 2023 23:59 (Pacific Time).
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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
Schedule
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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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- 15:00 - 16:00 Poster session
- 15:30 - 16:00 Refreshments
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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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- 17:00 Breakout sessions
- 17:15 Presentation session + Open discussion
- 17:45 Closing Remarks
Invited Speakers
Davide Scaramuzza
University of Zurich
Talk: "Vision based Agile Flight, from simulation to reality"
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
Czech Technical University in Prague
Talk: "Abstractions and Simulations as the Backbone of Reproducible Research"
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,
- RotorPy: A Python-based Multirotor Simulator with Aerodynamics for Education and Research,
- MARSIM: A light-weight point-realistic simulator for LiDAR-based UAVs,
- Sensitivity Approach for Prioritizing Unmanned Aerial Vehicles Simulator Design,
- Flymation: Interactive Animation for Flying Robots,
- Introducing Noise for AirSim's 3D Lidar Sensor to Reduce the Sim2real Gap,
- Potato: A Data-Oriented Programming 3D Simulator for Large-Scale Heterogeneous Swarm Robotics,
- From Perspective View to Bird's Eye View in Agricultural Environments,
- Survey, Selection, and Integration of Aerial Vehicle Simulators,
- CrazyChoir: A ROS 2 Toolbox for Simulations and Experiments on Swarms of Cooperating Crazyflies,
- Aerial Gym – Isaac Gym Simulator for Aerial Robots,
- Simulation-Guided Testing for Autonomous Aerial Robotics Applications,
- Sim-to-real transfer of UAV swarms using digital twins,
- QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control,
- Unity3D and Robot Operating System applied to the development of a multi-UAV strategy to identify oil spills around offshore platforms,
- A Simulator for Fully-Actuated UAVs,
Simulators
- Aerial Gym Based on NVIDIA Isaac Gym; See also paper 12
- Aerostack2 See also paper 13
- AirSim based on Unreal Engine; paper 7
- ARCAD See also paper 18
- CTU MRS Simulation Based on Gazebo; See also invited talk by Tomáš Báča
- Agilicious Based on Gazebo; See also invited talk by Davide Scaramuzza
- FlightGoggles See also paper 10
- Flightmare See also invited talk by Davide Scaramuzza; See also paper 10
- Gazebo See also paper 10
- Gym-PyBullet-Drones See also invited talk by Angela Schoellig; See also paper 10
- MARSIM See also paper 4
- Potato GPU-based; See also paper 8
- QuadSwarm See also paper 16
- RotorPy See also paper 3
- RotorS See also paper 10
- Unity 3D See also paper 2, paper 17
- Webots See also paper 10
Plans to encourage interaction among participants
- 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
Bitcraze A.B.
Giuseppe Silano
CTU Prague
Chiara Gabellieri
TU Twente
Wolfgang Hönig
TU Berlin
Steering Committee
Antonio Franchi
TU Twente, LAAS-CNRS, University of Sapienza in Rome
Martin Saska
Czech Technical University in Prague
Gianluca Antonelli
University of Cassino and Southern Lazio
Vincenzo Lippiello
University of Naples Federico II
Gaurav Sukhatme
University of Southern California
Stefano Stramigioli
TU Twente
Support
Endorsement
