center for robotics and embedded systems University of Southern California Viterbi School of Engineering

Simulators have played a critical role in robotic research as a tool to quickly and efficiently test new concepts, strategies, and algorithms. Most simulators have been restricted to a 2D world. A few of have matured to become quite complex and widely adapted. However, many researchers are looking towards ever more complicated and dynamic environments, and thus require an appropriately capable simulator. Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the worlds this new breed of robots will encounter. Its open source status, fine grained control, and high fidelity place Gazebo in the unique position to become more than just a stepping stone between the drawing board and real hardware. Gazebo is developed in cooperation with the Player and Stage projects, and is available through


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