SkyRover: A Modular Simulator for Cross-Domain Pathfinding
This addresses the problem of limited cross-domain study for researchers and practitioners in logistics and surveillance, though it is incremental as it builds on existing simulator concepts.
The paper tackles the lack of cross-domain simulators for UAV-AGV multi-agent pathfinding by introducing SkyRover, a modular simulator that supports realistic dynamics and configurable environments, enabling efficient pathfinding and high-fidelity simulations.
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.