2023/07/11 by Marcelo Jacinto, Jacinto, Marcelo, J.R. Caldas Pinto +11 · 4 citations
Computer Science · Engineering · #Aerospace and Aviation Technology #FOS: Computer and information sciences #FOS: Electrical engineering #Real-time simulation and control systems #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2307.05263
openalex publication_date 2023/07/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Developing and testing novel control and motion planning algorithms for aerial vehicles can be a challenging task, with the robotics community relying more than ever on 3D simulation technologies to evaluate the performance of new algorithms in a variety of conditions and environments. In this work, we introduce the Pegasus Simulator, a modular framework implemented as an NVIDIA Isaac Sim extension that enables real-time simulation of multiple multirotor vehicles in photo-realistic environments, while providing out-of-the-box integration with the widely adopted PX4-Autopilot and ROS2 through its modular implementation and intuitive graphical user interface. To demonstrate some of its capabilities, a nonlinear controller was implemented and simulation results for two drones performing aggressive flight maneuvers are presented. Code and documentation for this framework are also provided as supplementary material.