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 vehicles. It provides a simulation interface for PX4 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 documentation here to discover how to install and use this framework.

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

@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}
}

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

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

An high level project roadmap is available here.

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

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

Pegasus Simulator is released under BSD-3 License. The license files of its dependencies and assets are present in the docs/licenses directory.

NVIDIA Isaac Sim is available freely under individual license.

PX4-Autopilot is available as an open-source project under BSD-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).