---
title: "SkyRover: A Modular Simulator for Cross-Domain Pathfinding"
authors:
  - "Wenhui Ma"
  - "Wenhao Li"
  - "Bo Jin"
  - "Changhong Lu"
  - "Xiangfeng Wang"
doi: "10.24963/ijcai.2025/1268"
url: "https://ijcai.org/proceedings/2025/1268"
pdf: "https://ijcai.org/proceedings/2025/1268.pdf"
venue: "Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence"
year: 2025
pages: "11086-11090"
track: "Demo Track"
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"
---

# SkyRover: A Modular Simulator for Cross-Domain Pathfinding

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

*Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence*, pages 11086-11090. DOI: [10.24963/ijcai.2025/1268](https://doi.org/10.24963/ijcai.2025/1268)

## 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.