SkyRover: A Modular Simulator for Cross-Domain Pathfinding

TL;DR

SkyRover is a modular, configurable simulator designed to facilitate cross-domain multi-agent pathfinding research involving UAVs and AGVs, supporting realistic dynamics and benchmarking capabilities.

Contribution

It introduces SkyRover, a novel simulator that unifies ground and aerial agent operations for cross-domain pathfinding research and testing.

Findings

Efficient pathfinding demonstrated in UAV-AGV coordination

Supports realistic agent dynamics and 3D environments

Facilitates benchmarking and algorithm development

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.