# MengeROS: a Crowd Simulation Tool for Autonomous Robot Navigation

arXiv: https://arxiv.org/abs/1801.08823 · HTML: https://mlsanity.com/paper/1801.08823/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Jan 2018.

## Built on by (most cited first, 5 of 5)

- [Principles and Guidelines for Evaluating Social Robot Navigation Algorithms](https://mlsanity.com/paper/2306.16740/) (2023)
- [SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces](https://mlsanity.com/paper/2303.05584/) (2023)
- [Causality-enhanced Decision-Making for Autonomous Mobile Robots in Dynamic Environments](https://mlsanity.com/paper/2504.11901/) (2025)
- [UAV-CROWD: Violent and non-violent crowd activity simulator from the perspective of UAV](https://mlsanity.com/paper/2208.06702/) (2022)
- [A Comparative Study of Human Motion Models in Reinforcement Learning Algorithms for Social Robot Navigation](https://mlsanity.com/paper/2503.15127/) (2025)

## Abstract (arXiv)

While effective navigation in large, crowded environments is essential for an autonomous robot, preliminary testing of algorithms to support it requires simulation across a broad range of crowd scenarios. Most available simulation tools provide either realistic crowds without robots or realistic robots without realistic crowds. This paper introduces MengeROS, a 2-D simulator that realistically integrates multiple robots and crowds. MengeROS provides a broad range of settings in which to test the capabilities and performance of navigation algorithms designed for large crowded environments.