Flightmare: A Flexible Quadrotor Simulator

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Authors Antonio Loquercio, Davide Scaramuzza, Yunlong Song, Elia Kaufmann, Selim Naji
Journal/Conference Name arXiv preprint
Paper Category
Paper Abstract Currently available quadrotor simulators have a rigid and highly-specialized structure either are they really fast, physically accurate, or photo-realistic. In this work, we propose a paradigm-shift in the development of simulators moving the trade-off between accuracy and speed from the developers to the end-users. We use this design idea to develop a novel modular quadrotor simulator Flightmare. Flightmare is composed of two main components a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation. Those two components are totally decoupled and can run independently from each other. This makes our simulator extremely fast rendering achieves speeds of up to 230 Hz, while physics simulation of up to 200,000 Hz. In addition, Flightmare comes with several desirable features (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment. We demonstrate the flexibility of Flightmare by using it for two completely different robotic tasks learning a sensorimotor control policy for a quadrotor and path-planning in a complex 3D environment.
Date of publication 2020
Code Programming Language Multiple
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