HERCULES: An Open-Source Simulation Framework for Heterogeneous Multi-Robot SLAM, Collaborative Perception, and Exploration

Sandilya Sai Garimella, Daniel Chase Butterfield, Sean Wilson +1

We present HERCULES, an open-source simulator and data-collection pipeline for heterogeneous multi-robot autonomy. Built upon the Unreal Engine 5 (UE5)-based simulators AirSim and…