Simulation Framework for Mobile Robots in Planetary-Like Environments

@article{Giubilato2020SimulationFF,
  title={Simulation Framework for Mobile Robots in Planetary-Like Environments},
  author={Riccardo Giubilato and Andrea Masili and Sebastiano Chiodini and Marco Pertile and Stefano Debei},
  journal={2020 IEEE 7th International Workshop on Metrology for AeroSpace (MetroAeroSpace)},
  year={2020},
  pages={594-599}
}
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a planetary-like research vehicle which allows to test various perception and navigation approaches for specific environment conditions. The possibility of simulating arbitrary sensor setups comprising cameras, LiDARs (Light Detection and Ranging) and IMUs makes Gazebo an… 

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