Pegasus

Pegasus

Overview

Pegasus Simulator is a framework built on NVIDIA Omniverse and Isaac Sim. It aims to provide a simple yet powerful way to simulate the dynamics of multirotor aircraft. It provides a simulation interface for PX4 integration as well as a custom Python control interface. Currently, it only supports multirotor aircraft, but support for other aircraft topologies is planned for future versions.

If you find the following paper useful in your academic work, please cite it. You can also access it here.Pegasus Simulator

@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

• 2024-11-01: Pegasus Simulator v4.2.0 has been released, for use with Isaac 4.2.0. This version is incompatible with older versions of Isaac Sim . This version includes a new experimental interface for ArduPilot integration, provided by open source contributor Tomer Tiplitsky.
• 2024-08-02: Pegasus Simulator v4.1.0 has been released, compatible with Isaac 4.1.0. This version is not compatible with older versions of Isaac Sim .

Guidance, Control and Navigation

In parallel with this project is the Pegasus (GNC) Guidance, Control, and Navigation project, which served as the foundational control code for the real-world experiments in my doctoral dissertation. For more information, please visit this link: Pegasus GNC.

Development

This simulation framework is an open source project started by me, Marcelo Jacinto, in January 2023. It was originally created to serve my PhD research plan for the next four years, which means that this repository will be maintained until at least 2027.

• Project Founder
  • Marcelo Jacinto, under the supervision of Professors Rita Cunha and Antonio Pascoal (IST/ISR-Lisbon)
• architecture
  • Marcelo Jacinto
  • Joao Pinto
• Multirotor dynamics simulation and control
  • Marcelo Jacinto
• Sample Application
  • Marcelo Jacinto
  • Joao Pinto
• Ardupilot integration (experimental)
  • Tomer Tipliczynski

getting Started

• Install
  • Install NVIDIA Isaac Sim
  • Configure environment variables
  • Installing the Pegasus simulator
  • Installing PX4-Autopilot
• develop
  • Code structure

feature

• environment
  • List of provided simulation environments
  • Set the global coordinates of the map
• vehicle
• PX4 Integration
• ArduPilot (experimental)
  • Installing Ardupilot (Arducopter)
  • Running a simulation using Ardupilot (GUI mode)
  • Ardupilot integrated architecture

Other simulation

In this section, we acknowledge the contributions of those who have pioneered and inspired this work:

• [ KH04 ] Gazebo Simulator
• [ FBAS16 ] RotorS simulation plugin for Gazebo
• [ MHP15 ] PX4-SITL Gazebo simulation plugin
• [ 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 on the shoulders of giants." - Sir Isaac Newton

Project

• The Dynamical Systems and Marine Robotics (DSOR) group of the Institute of Systems and Robotics (ISR) is a research unit of the Laboratory of Robotics and Engineered Systems (LARSyS).
• University of Lisbon Superior Technical School

The work developed by Marcelo Jacinto and João Pinto was supported by a Ph.D. grant from the Fundação para as Ciências e Tecnologias (FCT).