AmesDT: Digital Twin and Autonomy Validation Environment

Rory Lipkis; Ignacio López-Francos; Pavlo Vlastos; Adrian Agogino

NASA NTRS · 20250000243

AmesDT: Digital Twin and Autonomy Validation Environment

Rory Lipkis·Ignacio López-Francos·Pavlo Vlastos·Adrian Agogino

Abstract

A simulation of NASA Ames Research Center was developed to provide a common testbed for multiple areas of research within the Intelligent Systems Division, primarily related to verification and validation of autonomous technologies, machine learning, and digital twin systems. AmesSim corresponds a physical rover that is capable of navigation in the real-world environment; in this way, the same experiments can be run in both settings, with the same software and hardware stacks in the loop. The simulation is built in Unreal Engine 4 and uses the AirSim plugin for API convenience. Several custom modifications allow deterministic, faster-than-realtime execution, which enables consistent testing of on-line algorithms and large-scale data collection. This paper describes the architecture and capabilities of the simulation and discusses development challenge.

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BibTeX RIS

Rory Lipkis, Ignacio López-Francos, Pavlo Vlastos, Adrian Agogino. AmesDT: Digital Twin and Autonomy Validation Environment. https://ntrs.nasa.gov/citations/20250000243

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