论文/arXiv 2608.26066·2 个月前

VirTooS：用于自主移动机器人车队管理的 ROS 2-Unity 虚拟化工具包

VirTooS结合ROS 2与Unity，为AMR团队车队管理提供混合现实虚拟实验工具，并在任务分配实验中验证。

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原文链接：VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots（arXiv 2608.26066 · 发布日期：2026-08-26）

VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots

VirTooS结合ROS 2与Unity，为AMR团队车队管理提供混合现实虚拟实验工具，并在任务分配实验中验证。

核心要点

• 面向AMR团队的车队管理任务，旨在提供真实、可扩展的虚拟实验环境。
• 采用Python/C#实现，结合ROS 2与Unity，可生成并定制虚拟场景。
• 支持利用虚拟和真实传感器进行建图与安全导航，并通过ChoiRbot例程支持分布式实验。
• 在虚拟任务分配实验中展示真实与虚拟机器人无缝交互，代码将公开于GitHub。

验证范围与局限：验证范围为虚拟环境中的任务分配示例，并展示真实与虚拟机器人交互。

英文摘要 (Abstract)

In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of Autonomous Mobile Robots (AMRs). VirTooS leverages the Robot Operating System (ROS) 2 and Unity game engine to provide realistic, scalable virtual experiments in a mixed-reality environment. The toolbox allows users to easily generate and customize virtual scenarios for realistic simulations. Virtual and real sensors as, e.g., LiDARs, can be exploited to map and safely navigate in the mixed-reality environment. To enable distributed robotics experiments, we propose a set of tailored routines leveraging the ChoiRbot framework. As a motivating example, we show a set of experiments for task assignment problems in a virtual environment, allowing seamless interaction among real and virtual robots. Moreover, the package comes with a containerized suite to easily deploy it on different machines. The source code will be made publicly available on GitHub.

作者：Andrea Drudi, Lorenzo Pichierri, Andrea Testa, Giuseppe Notarstefano

来源

本页事实对应的公开页面，以原文为准。

1. arXiv 2608.26066：VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots访问 2026-10-21