PyBullet Drones

Quadcopter control environments with realistic physics simulation.

Install:

pip install -e ".[pybullet-drones]"

Paradigm:

Single-agent / Multi-agent

Stepping:

SINGLE_AGENT / SIMULTANEOUS

Environment	Description
hover-aviary-v0	Single drone hovering task
multihover-aviary-v0	Multi-drone formation hovering
ctrl-aviary-v0	Low-level motor control
velocity-aviary-v0	Velocity-based control

Citation

@inproceedings{panerati2021learning,
  author       = {Jacopo Panerati and Hehui Zheng and SiQi Zhou and James Xu and Amanda Prorok and Angela P. Schoellig},
  title        = {Learning to Fly -- a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-agent Quadrotor Control},
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year         = {2021},
}