SkyRover: A Modular Simulator for Cross-Domain Pathfinding

Wenhui Ma, Wenhao Li, Bo Jin, Changhong Lu, Xiangfeng Wang
2/13/2025
cs.ROcs.AIcs.LG

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Abstract

Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study. This paper presents the SkyRover, a modular simulator for UAV-AGV multi-agent pathfinding (MAPF). SkyRover supports realistic agent dynamics, configurable 3D environments, and convenient APIs for external solvers and learning methods. By unifying ground and aerial operations, it facilitates cross-domain algorithm design, testing, and benchmarking. Experiments highlight SkyRover's capacity for efficient pathfinding and high-fidelity simulations in UAV-AGV coordination. Project is available at https://sites.google.com/view/mapf3d/home.

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Cite this paper

@article{ma2025skyrover,
  title  = {SkyRover: A Modular Simulator for Cross-Domain Pathfinding},
  author = {Wenhui Ma and Wenhao Li and Bo Jin and Changhong Lu and Xiangfeng Wang},
  year   = {2025},
  eprint = {2502.08969},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2502.08969v1}
}

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