# Cosys-AirSim: A Real-Time Simulation Framework Expanded for Complex Industrial Applications

arXiv: https://arxiv.org/abs/2303.13381 · HTML: https://mlsanity.com/paper/2303.13381/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Mar 2023.

## Built on by (most cited first, 8 of 8)

- [AirSim360: A Panoramic Simulation Platform within Drone View](https://mlsanity.com/paper/2512.02009/) (2025)
- [ASVSim (AirSim for Surface Vehicles): A High-Fidelity Simulation Framework for Autonomous Surface Vehicle Research](https://mlsanity.com/paper/2506.22174/) (2025)
- [HERCULES: An Open-Source Simulation Framework for Heterogeneous Multi-Robot SLAM, Collaborative Perception, and Exploration](https://mlsanity.com/paper/2606.22756/) (2026)
- [SimD3: A Synthetic drone Dataset with Payload and Bird Distractor Modeling for Robust Detection](https://mlsanity.com/paper/2601.14742/) (2026)
- [DRUM: Diffusion-based Raydrop-aware Unpaired Mapping for Sim2Real LiDAR Segmentation](https://mlsanity.com/paper/2603.26263/) (2026)
- [Text-conditioned Segmentation for Tomato Phenotyping via Procedural Synthetic Data](https://mlsanity.com/paper/2607.18576/) (2026)
- [Zero-Shot Mission-Level Evaluation for Aerial MLLM Agents](https://mlsanity.com/paper/2607.22014/) (2026)
- [DroneGround: Open-Vocabulary Drone Payload Characterization Using Synthetic Data and Grounded Vision-Language Models](https://mlsanity.com/paper/2609.07780/) (2026)

## Abstract (arXiv)

Within academia and industry, there has been a need for expansive simulation frameworks that include model-based simulation of sensors, mobile vehicles, and the environment around them. To this end, the modular, real-time, and open-source AirSim framework has been a popular community-built system that fulfills some of those needs. However, the framework required adding systems to serve some complex industrial applications, including designing and testing new sensor modalities, Simultaneous Localization And Mapping (SLAM), autonomous navigation algorithms, and transfer learning with machine learning models. In this work, we discuss the modification and additions to our open-source version of the AirSim simulation framework, including new sensor modalities, vehicle types, and methods to generate realistic environments with changeable objects procedurally. Furthermore, we show the various applications and use cases the framework can serve.