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Pegasus Simulator is a framework built on top ofNVIDIA Omniverse andIsaacSim. It is designed to provide an easy yet powerful way of simulating the dynamics of vehicles. It provides a simulation interface forPX4 andArduPilot integration, as well as a custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions.

Check the provided documentationhere to discover how to install and use this framework.

• 2024-11-01: Pegasus Simulator v4.2.0 is released for Isaac 4.2.0. This version isNOT compatible with older versions of Isaac Sim. This version includes a new experimental interface for Ardupilot integration, provided by open-source contributorTomer Tiplitsky.
• 2024-08-02: Pegasus Simulator v4.1.0 is released for Isaac 4.1.0. This version isNOT compatible with older versions of Isaac Sim.

If you find Pegasus Simulator useful in your academic work, please cite the paper below. It is also availablehere.

@INPROCEEDINGS{10556959,  author={Jacinto, Marcelo and Pinto, João and Patrikar, Jay and Keller, John and Cunha, Rita and Scherer, Sebastian and Pascoal, António},  booktitle={2024 International Conference on Unmanned Aircraft Systems (ICUAS)},   title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation},   year={2024},  volume={},  number={},  pages={917-922},  keywords={Simulation;Robot sensing systems;Real-time systems;Sensor systems;Sensors;Task analysis},  doi={10.1109/ICUAS60882.2024.10556959}}

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
• Ardupilot Integration (Experimental)
  • Tomer Tiplitsky

Also check the always up-to-dateGithub contributors list with all the open-source contributors.

In parallel to this project, the Pegasus (GNC) guidance, control, and navigation project serves as the foundation control code for performing real-world experiments for my Ph.D. More information can be found at this link:Pegasus GNC

An high level project roadmap is availablehere.

We welcome new contributions from the community to improve this work. Please check theContributing section in the documentation for the guidelines on how to help improve and support this project.

• UseDiscussions for discussing ideas, asking questions, and requests features.
• UseIssues to track work in development, bugs and documentation issues.
• UsePull Requests to fix bugs or contribute directly with your own ideas, code, examples or improve documentation.

Pegasus Simulator is released underBSD-3 License. The license files of its dependencies and assets are present in thedocs/licenses directory.

NVIDIA Isaac Sim is available freely underindividual license.

PX4-Autopilot is available as an open-source project underBSD-3 License.

• 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 a Ciência e Tecnologia (FCT).