SkyRover: A Modular Simulator for Cross-Domain Pathfinding

作     者：Ma, Wenhui Li, Wenhao Jin, Bo Lu, Changhong Wang, Xiangfeng 

作者机构：School of Computer Science and Technology East China Normal University China School of Computer Science and Technology Tongji University China School of Mathematical Sciences East China Normal University China Key Laboratory of Mathematics and Engineering Applications MoE China 

出 版 物：《arXiv》 (arXiv)

年 卷 期：2025年

核心收录：

主　　题：Unmanned aerial vehicles (UAV) 

摘      要：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://***/view/mapf3d/home. © 2025, CC BY.