Welcome to Robot Co-Simulator documentation!

Note

This project is under active development.

Contents

• Overview Video
• Introduction
• Related Work
  • Co-Simulation of Custom SoC Hardware
  • Simulation-Based Design Space Exploration of UAV Hardware
  • Closed-Loop Simulation of Custom Robotics Hardware and Systems
• Design
• Physical Drone Implementation
  • Bill of Materials
  • Assembly and Bringup
  • ROS Infrastructure
  • Configuration and Software
• Co-Simulation Implementation
  • Installing and Deploying AirSim
  • Deploying the AirSim Client in QEMU
  • Deploying the AirSim Client in FireSim
  • Porting ROS1 for RISC-V
• Tasks, Milestones, and Assessment
  • Physical UAV Prototyping
  • Porting ROS libraries to RISC-V
  • Developing Co-simulation Infrastructure
  • Generating Robotics SoC Designs in Chipyard
  • Documenting Challenges
  • Items for physical prototyping
• Results
• Conclusion
• Team
  • Dima Nikiforov
  • Chris Dong
  • Collaboration
• Additional Materials
• References
• Acknowledgements