FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy
This repository contains the code for the FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy presented in our paper and the project website. The documentation can be found here. The ROS package is available in the ctu-mrs/mrs_uav_unreal_simulation repository. For usage without ROS can be found in the ctu-mrs/mrs_flight_forge_connector repository.
This repository contains the code for the FlightForge simulation environment, which is based on Unreal Engine 5. If you want to create custom worlds or edit the simulator, you need to have Unreal Engine 5.4.3 installed, if you want to use the simulator without editing it, you can use the precompiled version of the simulator it is downloadable here MRS FlightForge simulator
- Create a new C++ project in Unreal Engine 5.4.3
- Clone this repository into the
Pluginsfolder of your project, if it's not created create it.
git clone https://github.com/ctu-mrs/flight_forge.git - Open the project in Unreal Engine 5.4.3 and compile the project.
- Check the
Pluginssection in the project settings and enable theFlightForgeplugin. - Set the Game Mode to
UedsGameModein 77D2 the project settings. - Create a new level and check that the Game Mode is set to
UedsGameMode. - Find the PawnSpawn and set its name to
UAV - Try to play the game, now you should be able to spawn the UAV in the world using the ROS interface or the C++ / Python interface.
If you use this work in your research, please cite the following paper:
@inproceedings{capek2025flightforge,
title = {FlightForge: Advancing UAV Research with Procedural Generation of High-Fidelity Simulation and Integrated Autonomy},
author = {David \v{C}apek, Jan Hrn\v{c}\'{i}\v{r}, Tom\'{a}\v{s} B\'{a}\v{c}a, Jakub Jirkal, Vojt\v{e}ch Von\'{a}sek, Robert P\v{e}ni\v{c}ka and Martin Saska
},
year = {2025},
booktitle = {IEEE/RSJ International Conference on Robotics and Automation (ICRA)},
}