Pegasus Simulator
#################
Overview
========
**Pegasus Simulator** is a framework built on top of `NVIDIA
Omniverse `__ and `Isaac
Sim `__. It is designed to provide an easy yet
powerful way of simulating the dynamics of multirotors vehicles. It provides a simulation interface for `PX4 `__
integration as well as custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions.
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If you find ``Pegasus Simulator`` useful in your academic work, please cite the paper below. It is also available `here `_.
.. code-block:: bibtex
@misc{jacinto2023pegasus,
title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation},
author={Marcelo Jacinto and João Pinto and Jay Patrikar and John Keller and Rita Cunha and Sebastian Scherer and António Pascoal},
year={2023},
eprint={2307.05263},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
Developer Team
~~~~~~~~~~~~~~
This simulation framework is an open-source effort, started by me, Marcelo Jacinto in January/2023. It is a tool that was created with the original purpose of serving my Ph.D. workplan for the next 4 years, which means that you can expect this repository to be mantained, hopefully at least until 2027.
- Project Founder
- `Marcelo Jacinto `__, under the supervision of Prof. Rita Cunha and Prof. Antonio Pascoal (IST/ISR-Lisbon)
- Architecture
- `Marcelo Jacinto `__
- `João Pinto `__
- Multirotor Dynamic Simulation and Control
- `Marcelo Jacinto `__
- Example Applications
- `Marcelo Jacinto `__
- `João Pinto `__
.. toctree::
:maxdepth: 2
:caption: Getting Started
source/setup/installation
source/setup/developer
.. toctree::
:maxdepth: 1
:caption: Tutorials
source/tutorials/run_extension_mode
source/tutorials/create_standalone_application
source/tutorials/create_standalone_simulation
source/tutorials/create_custom_backend
.. toctree::
:maxdepth: 2
:caption: Features
source/features/environments
source/features/vehicles
source/features/px4_integration
.. toctree::
:maxdepth: 2
:caption: Source API
source/api/index
.. toctree::
:maxdepth: 1
:caption: References
source/references/contributing
source/references/known_issues
source/references/changelog
source/references/roadmap
source/references/license
source/references/bibliography
.. automodule::"pegasus_isaac"
:platform: Linux-x86_64
:members:
:undoc-members:
:show-inheritance:
:imported-members:
:exclude-members: contextmanager
Other Simulation Frameworks
===========================
In this section, we acknowledge the nobel work of those who came before us and inspired this work:
- :cite:p:`gazebo` Gazebo simulator
- :cite:p:`rotorS` RotorS simulation plugin for gazebo
- :cite:p:`px4` PX4-SITL simulation plugin for gazebo
- :cite:p:`airsim` Microsoft Airsim project for Unreal Engine
- :cite:p:`flightmare` Flightmare simulator for Unity
- :cite:p:`jmavsim` jMAVSim java simulator
*"If I have seen further than others, it is by standing upon the shoulders of giants."*, Sir Isaac Newton
Project Sponsors
================
- Dynamics Systems and Ocean Robotics (DSOR) group of the Institute for Systems and Robotics (ISR), a research unit of the Laboratory of Robotics and Engineering Systems (LARSyS).
- Instituto Superior Técnico, Universidade de Lisboa
The work developed by Marcelo Jacinto and João Pinto was supported by Ph.D. grants funded by Fundação para as Ciências e Tecnologias (FCT).
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