{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/simulation-framework-for-mobile-robots-in","title":"Simulation Framework for Mobile Robots in Planetary-Like Environments","arxiv_id":"2006.00057","date":"2020-05-29","proceeding":null,"authors":["Riccardo Giubilato","Andrea Masili","Sebastiano Chiodini","Marco Pertile","Stefano Debei"],"abstract":"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 excellent resource for rapid prototyping. In this work we evaluate a variety of open-source visual and LiDAR SLAM (Simultaneous Localization and Mapping) algorithms in a simulated Martian environment. Datasets are captured by driving the rover and recording sensors outputs as well as the ground truth for a precise performance evaluation.","url_abs":"http://arxiv.org/abs/2006.00057v2","url_pdf":"http://arxiv.org/pdf/2006.00057v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"simulation-framework-for-mobile-robots-in","repo_url":"https://github.com/MorpheusPD/MarsSim","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}