# SkyRover: A Modular Simulator for Cross-Domain Pathfinding

arXiv: https://arxiv.org/abs/2502.08969 · HTML: https://mlsanity.com/paper/2502.08969/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 32 references that are in the map.
- First posted on arXiv 13 Feb 2025.

## Builds on (most cited first, 8 of 8)

- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks](https://mlsanity.com/paper/1906.08291/) (2019)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [Learning Selective Communication for Multi-Agent Path Finding](https://mlsanity.com/paper/2109.05413/) (2021)
- [Vehicle Routing Problems for Drone Delivery](https://mlsanity.com/paper/1608.02305/) (2016)
- [Iterative Refinement for Real-Time Multi-Robot Path Planning](https://mlsanity.com/paper/2102.12331/) (2021)
- [Graph-Based Multi-Robot Path Finding and Planning](https://mlsanity.com/paper/2206.11319/) (2022)
- [Recent Surge in Public Interest in Transportation: Sentiment Analysis of Baidu Apollo Go Using Weibo Data](https://mlsanity.com/paper/2408.10088/) (2024)

## Built on by (most cited first, 1 of 1)

- [GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments](https://mlsanity.com/paper/2603.10858/) (2026)

## Abstract (arXiv)

Unmanned Aerial Vehicles (UAVs) and Automated Guided Vehicles (AGVs) increasingly collaborate in logistics, surveillance, inspection tasks and etc. However, existing simulators often focus on a single domain, limiting cross-domain study. This paper presents the SkyRover, a modular simulator for UAV-AGV multi-agent pathfinding (MAPF). SkyRover supports realistic agent dynamics, configurable 3D environments, and convenient APIs for external solvers and learning methods. By unifying ground and aerial operations, it facilitates cross-domain algorithm design, testing, and benchmarking. Experiments highlight SkyRover's capacity for efficient pathfinding and high-fidelity simulations in UAV-AGV coordination. Project is available at https://sites.google.com/view/mapf3d/home.