Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons

TL;DR

This paper provides a comprehensive overview and systematic comparison of 44 UAV simulators, offering decision factors to help researchers select the most suitable simulator for their specific needs, thereby improving safety and efficiency.

Contribution

It presents the first extensive survey and detailed comparison of UAV simulators, including a set of decision factors for effective simulator selection.

Findings

Systematic comparison of 14 simulators highlights their strengths and limitations.

Decision factors assist researchers in choosing appropriate UAV simulators.

The survey covers 44 UAV simulators, providing a valuable resource for the community.

Abstract

Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the development and evaluation of novel perception and control algorithms. However, the large number of available simulators poses a significant challenge for researchers to determine which simulator best suits their specific use-case, based on each simulator's limitations and customization readiness. In this paper we present an overview of 44 UAV simulators, including in-depth, systematic comparisons for 14 of the simulators. Additionally, we present a set of decision factors for selection of simulators, aiming to enhance the efficiency and safety of research endeavors.