SkyRover: A Modular Simulator for Cross-Domain Pathfinding

Ma, Wenhui; Li, Wenhao; Jin, Bo; Lu, Changhong; Wang, Xiangfeng

doi:10.24963/ijcai.2025/1268

SkyRover: A Modular Simulator for Cross-Domain Pathfinding

Wenhui Ma, Wenhao Li, Bo Jin, Changhong Lu, Xiangfeng Wang

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Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence. Demo Track. Pages 11086-11090.

https://doi.org/10.24963/ijcai.2025/1268

Keywords

Planning and Scheduling: PS: Search in planning and scheduling
Planning and Scheduling: PS: Learning in planning and scheduling
Robotics: ROB: Motion and path planning
Agent-based and Multi-agent Systems: MAS: Engineering methods, platforms, languages and tools

Abstract

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.

We believe the SkyRover fills a key gap in MAPF research.

Project is available at https://sites.google.com/view/mapf3d/home.

Wenhui Ma, Wenhao Li, Bo Jin, Changhong Lu, and Xiangfeng Wang. 2025. SkyRover: A Modular Simulator for Cross-Domain Pathfinding. In Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-25. IJCAI, 11086–11090. https://doi.org/10.24963/ijcai.2025/1268

@inproceedings{ijcai2025p1268,
  title     = {SkyRover: A Modular Simulator for Cross-Domain Pathfinding},
  author    = {Ma, Wenhui and Li, Wenhao and Jin, Bo and Lu, Changhong and Wang, Xiangfeng},
  booktitle = {Proceedings of the Thirty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-25}},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  editor    = {James Kwok},
  pages     = {11086--11090},
  year      = {2025},
  month     = {8},
  note      = {Demo Track},
  doi       = {10.24963/ijcai.2025/1268},
  url       = {https://doi.org/10.24963/ijcai.2025/1268},
}

TY  - CPAPER
TI  - SkyRover: A Modular Simulator for Cross-Domain Pathfinding
AU  - Ma, Wenhui
AU  - Li, Wenhao
AU  - Jin, Bo
AU  - Lu, Changhong
AU  - Wang, Xiangfeng
T2  - Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-25
PB  - International Joint Conferences on Artificial Intelligence Organization
PY  - 2025
SP  - 11086
EP  - 11090
DO  - 10.24963/ijcai.2025/1268
UR  - https://doi.org/10.24963/ijcai.2025/1268
ER  -