Pegasus Simulator

Overview

Pegasus Simulator is a framework built on top ofNVIDIAOmniverse andIsaacSim. It is designed to provide an easy yetpowerful way of simulating the dynamics of multirotors vehicles. It provides a simulation interface forPX4integration 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.

Pegasus Simulator imagePegasus Simulator gif

If you findPegasusSimulator 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}}

Latest Updates

  • 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.

Guidance, Control and Navigation Project

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.

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.

Other Simulation Frameworks

In this section, we acknowledge the nobel work of those who came before us and inspired this work:

  • [KH04] Gazebo simulator

  • [FBAS16] RotorS simulation plugin for gazebo

  • [MHP15] PX4-SITL simulation plugin for gazebo

  • [SDLK18] Microsoft Airsim project for Unreal Engine

  • [SNK+21] Flightmare simulator for Unity

  • [Bab13] 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).