# Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons

arXiv: https://arxiv.org/abs/2311.02296 · HTML: https://mlsanity.com/paper/2311.02296/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Nov 2023.

## Built on by (most cited first, 6 of 6)

- [Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor](https://mlsanity.com/paper/2501.18490/) (2025)
- [Non-Prehensile Aerial Manipulation using Model-Based Deep Reinforcement Learning](https://mlsanity.com/paper/2407.00889/) (2024)
- [FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy](https://mlsanity.com/paper/2502.05038/) (2025)
- [VizFlyt: Perception-centric Pedagogical Framework For Autonomous Aerial Robots](https://mlsanity.com/paper/2503.22876/) (2025)
- [Zero-Shot UAV Navigation in Forests via Relightable 3D Gaussian Splatting](https://mlsanity.com/paper/2602.07101/) (2026)
- [aerial-autonomy-stack -- a Faster-than-real-time, Autopilot-agnostic, ROS2 Framework to Simulate and Deploy Perception-based Drones](https://mlsanity.com/paper/2602.07264/) (2026)

## Abstract (arXiv)

Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable the development and evaluation of novel perception and control algorithms. However, the large number of available simulators poses a significant challenge for researchers to determine which simulator best suits their specific use-case, based on each simulator's limitations and customization readiness. In this paper we present an overview of 44 UAV simulators, including in-depth, systematic comparisons for 14 of the simulators. Additionally, we present a set of decision factors for selection of simulators, aiming to enhance the efficiency and safety of research endeavors.